AGV sliding mode control method based on visual servo

The invention discloses an AGV sliding mode control method based on visual servo, and the method comprises the following steps: 1), building a camera imaging model, obtaining feature points through a camera, obtaining the pixel coordinates of a current image, and obtaining the world coordinates through coordinate transformation; (2) performing kinematic modeling on the AGV, and establishing a kinematic model of the AGV; 3) designing a corresponding sliding mode controller according to the kinematic model; and 4) adding the world coordinates obtained in the step 1) into the designed sliding mode controller to enable the AGV to move to a target point. According to the invention, the real-time position of the AGV can be accurately obtained through visual servo; and through the sliding mode control algorithm, the AGV can realize good trajectory tracking. 本发明公开了一种基于视觉伺服的AGV滑模控制方法，包括如下步骤：步骤1)建立摄像机成像模型，通过摄像机获取特征点，并得到当前图像像素坐标,然后通过坐标变换得到世界坐标；步骤2)对AGV进行运动学建模，建立AGV的运动学模型；步骤3)根据所述运动学模型设计对应的滑模控制器；步骤4)将步骤1)中获得的世界坐标加入到所设计的滑