模型未知动态场景下移动机器人的视觉镇定
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摘要
为了让移动机器人在动态变化的环境下完成镇定任务,提出了一种基于视觉伺服、可在动态场景中利用模型未知的特征点完成轮式移动机器人的视觉镇定控制方法。首先利用特征点和视觉图像的几何关系计算出不同场景深度的比例;然后,通过单应矩阵分解和坐标系变换,求出各个坐标系之间的相对关系;最后,采用自适应控制器将机器人驱动到期望位姿处。仿真和实验结果表明:在场景发生变动时,移动机器人可以完成镇定控制,即当线速度v→0和角速度w→0时,误差e→0,机器人镇定到期望位姿0.0 m,0.0 m,0.0°处。
A new method is proposed for mobile robot visual servoing using model-free visual targets under dynamic scenes.In the first stage, the ratio of depth information is calculated by using the geometric relationship between feature points and images. For the second stage, the relationship between various coordinate systems can be calculated via homography decompositions and coordinate transformation. Finally, an adaptive controller is adopted to drive the mobile robot to the desired pose. Both the simulation and experimental results show that when the scene changes, the mobile robot can complete the stabilization control. That is, when the linear velocity v→0 and the angular velocity w→0, the error e→0, then the robot stabilization to the desired pose 0.0 m,0.0 m,0.0 °.
A new method is proposed for mobile robot visual servoing using model-free visual targets under dynamic scenes.In the first stage, the ratio of depth information is calculated by using the geometric relationship between feature points and images. For the second stage, the relationship between various coordinate systems can be calculated via homography decompositions and coordinate transformation. Finally, an adaptive controller is adopted to drive the mobile robot to the desired pose. Both the simulation and experimental results show that when the scene changes, the mobile robot can complete the stabilization control. That is, when the linear velocity v→0 and the angular velocity w→0, the error e→0, then the robot stabilization to the desired pose 0.0 m,0.0 m,0.0 °.
引文
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[3]GRAVE I,TANG Y.A new observer for perspective vision systems under noisy measurements[J].IEEE Transactions on Automatic Control,2015,60(2):503-508.
[4]LIANG X W,WANG H S,LIU Y H,et al.Formation control of nonholonomic mobile robots without position and velocity measurements[J].IEEE Transactions on Robotics,2018,34(2):434-446.
[5]BROCKETT R.The early days of geometric nonlinear control[J].Automatica,2014,50(9):2203-2224.
[6]ZHANNG X B,FANG Y C,LI B Q,et al.Visual servoing of nonholonomic mobile robots with uncalibrated camera-torobot parameters[J].IEEE Transactions on Industrial Electronics,2017,64(1):390-400.
[7]POMARES J,PEREA I,TORRES F.Dynamic visual servoing with chaos control for redundant robots[J].ASME Transactions on Mechatronics,2014,19(2):423-431.
[8]HADJ-ABDELKADER H,MEZOUAR Y,MARTINET P,et al.Catadioptric visual servoing form 3-D straight lines[J].IEEETransactions on Robotics,2008,24(3):652-665.
[9]FANG Y C,LIU X,ZHANG X B.Adaptive active visual servoing of nonholonomic mobile robots[J].IEEE Transactions on Indu-strial Electronics,2012,59(1):486-497.
[10]CHWA D,DANI A P,DIXON W E.Range and motion estimation of a monocular camera using static and moving objects[J].IEEE Transactions on Control Systems Technology,2016,24(4):1174-1183.
[11]师五喜,王栋伟,李宝全.多机器人领航-跟随型编队控制[J].天津工业大学学报,2018,37(2):72-78.SHI W X,WANG D W,LI B Q.Formation control based on leader-followers for multiple mobile robots[J].Journal of Tianjin Polytechnic University,2018,37(2):72-78(in Chinese).
[12]LIU M,PRADALIER C,SIEGWAR T R.Visual homing from scale with an uncalibrated omnidirectional camera[J].IEEETransactions on Robotics,2013,29(6):1353-1365.
[13]HU G,GANS N,FITZ-COY N,et al.Adaptive homographybased visual servo tracking control via a quaternion formulation[J].IEEE Transactions on Control Systems Technology,2010,18(1):128-135.
[14]LIANG X W,WANG H S,CHEN W D,et al.Adaptive image-based trajectory tracking control of wheeled mobile robots with an uncalibrated fixed camera[J].IEEE Transactions on Control Systems Technology,2015,23(6):2266-2282.
[15]FANG Y,DIXON W E,DAWSON D M,et al.Homographybased visual servo regulation of mobile robots[J].IEEE Transactions on Systems,Man and Cybernetics,Part B(Cybernetics),2005,35(5):1041-1050.
[16]SUN N,FANG Y C,CHEN H,et al.Nonlinear stabilizing control for ship-mounted cranes with ship roll and heave movements:Design,analysis,and experiments[J].IEEE Transactions on Systems,Man,and Cybernetics:System,2018,48(10):1781-1793.
[17]ZHANG X B,FANG Y C,MA B J.A fast homography decomposition technique for visual servo of mobile robots[C]//200827th Chinese Control Conference.Kunming:IEEE,2008:404-409.
[18]ZHANG X B,FANG Y C,SUN N.Visual servoing of mobile robots for posture stabilization:from theory to experiments[J].International Journal of Robust and Nonlinear Control,2015,25(1):1-15.
[19]MACKUNIS W,GANS N,KAISER K,et al.Unified tracking and regulation visual servo control for wheeled mobile robots[C]//2007 IEEE International Conference on Control Applications.Singapore:IEEE,2007:88-93.
[20]AICARDI M,CASALINO G,BICCHI A,et al.Closed loop steering of unicyclelike vehicles via Lyapunov techniques[J].IEEE Robotics and Automation Magazine,1995,2(1):27-35.
[21]SUN N,WU Y M,FANG Y C,et al.Nonlinear antiswing control for crane systems with double-pendulum swing effects and uncertain parameters:design and experiments[J].IEEE Transactions on Automation Science and Engineering,2018,15(3):1413-1422.
[22]FAUGERAS O D,LUSTMAN F.Motion and structure from motion in a piecewise planar environment[J].International Journal of Pattern Recognition and Artificial Intelligence,1988,2(3):485-508.