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具有未校准视觉参数的非完整移动机器人的运动学系统具有参数不确定性,较一般的运动学系统更加复杂。基于视觉反馈、Barbalat’s定理和Lyapunov直接方法,研究了具有未标定摄像机参数的非完整移动机器人的轨迹跟踪问题。首先,利用固定在天花板上的针孔摄像机透视投影模型,提出了一种新的基于视觉伺服的移动机器人运动学跟踪误差模型;基于这个模型,提出了一种新的与未知视觉参数无关的动态反馈跟踪控制器.该控制器不仅保证系统的状态渐近跟踪给定参考轨迹,而且控制器是全局的,通过Lyapunov方法严格证明了闭环系统的稳定性。在惯性系和图像坐标系下讨论跟踪问题,使问题变的简单且设计的控制器更加有用。最后,仿真结果证实了所提出的控制器的有效性。
Kinematics systems of nonholonomic mobile robots with uncalibrated visual parameters have parameter uncertainties that are more complex than typical kinematic systems. Based on the visual feedback, the Barbalat’s theorem and the Lyapunov direct method, the trajectory tracking of nonholonomic mobile robot with uncalibrated camera parameters is studied. Firstly, a new model of kinematic tracking error of mobile robot based on visual servoing is proposed by using the perspective projection model of pinhole camera fixed on the ceiling. Based on this model, a new dynamics independent of unknown visual parameters Feedback tracking controller.The controller not only guarantees the state of the system asymptotically tracking a given reference trajectory, but also the controller is global, and the stability of the closed-loop system is strictly proved by the Lyapunov method. Discuss tracking issues in both inertial and image coordinate systems, making the problem easier to design and more useful for controller design. Finally, the simulation results confirm the effectiveness of the proposed controller.