Paper Info
Title
Visual servoing feedback based robust regulation of nonholonomic wheeled mobile robots
Abstract
This paper investigated the visual servoing regulation of nonholonomic mobile robots with monocular camera. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Two-phase technique was used to present a robust controller that enabled the mobile robot image pose and the orientation regulation despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem was discussed in the image frame and the inertial frame, which made the problem easy and useful. The stabilization of the system by using the proposed method was rigorously proved. The simulation was given to show the effectiveness of the presented controllers.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5979924
ICRA
Keywords
Field
DocType
robot kinematics,monocular camera,visual servoing regulation,regulation,inertial frame,visual servoing,robust control,mobile robots,robust controller,pose estimation,visual feedback,feedback,image frame,stabilization,two-phase technique,cameras,visual servoing feedback based robust regulation,nonholonomic mobile robots,depth information,position control,orientation regulation,precise visual parameters,nonholonomic mobile robot,mobile robot image pose,nonholonomic kinematic systems,nonholonomic wheeled mobile robots,mobile robot,visualization,indexing terms,kinematics
Kinematics,Control theory,Pose,Control engineering,Artificial intelligence,Robust control,Computer vision,Control theory,Robot kinematics,Visual servoing,Engineering,Nonholonomic system,Mobile robot
Conference
Volume
Issue
ISSN
null
null
1050-4729
ISBN
Citations 
PageRank 
978-1-61284-386-5
1
0.35
References 
Authors
11
1
Name
Order
Citations
PageRank
Chaoli Wang15811.04