Visual Servo Regulation of Wheeled Mobile Robots With Simultaneous Depth Identification

In this paper, an adaptive visual servoing scheme is developed to drive a wheeled mobile robot to the desired pose, wherein the unknown depth information is identified simultaneously. Specifically, system errors are selected by measurable signals at first, then the kinematics model is obtained in po...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2018-01, Vol.65 (1), p.460-469
Hauptverfasser:	Li, Baoquan, Zhang, Xuebo, Fang, Yongchun, Shi, Wuxi
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Cameras Computer simulation Control systems design depth identification Kinematics Laws Mobile robots Motion stability Polar coordinate models Robot kinematics Robots Stability analysis Visual control visual servo regulation Visual servoing Visualization wheeled mobile robot
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