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| DOI：10.1007/s11768-010-0003-1 |
| Received:January 06, 2010Revised:January 06, 2010 |
| 基金项目:National Science Foundation(60874002), Key Program of Scientific Innovation of Science Foundation(60874002), Key Program of Scientific Innovation of Shanghai Education Committee(09zz158),and Shanghai Key Discipline(S30501) |
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| Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing |
| Chaoli WANG,Zhengying Liang,Qingwei JIA |
| (University of Shanghai for Science and Technology;Research & Development Centre, Hitachi Asia Ltd) |
| Abstract: |
| This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration
of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate
calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to
consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A
novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller
is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot
image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of
precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the
effectiveness of the presented controllers. |
| Key words: Nonholonomic system Uncalibrated visual parameters Stabilization Dynamic feedback |
