Passivity based visual servoing of mobile robots with dynamics compensation

Passivity based visual servoing of mobile robots with dynamics compensation

This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L2-gain perfor...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Mechatronics (Oxford) 2012-06, Vol.22 (4), p.481-490
Hauptverfasser: Morales, Beatriz, Roberti, Flavio, Toibero, Juan Marcos, Carelli, Ricardo
Format: Artikel
Sprache:eng
Schlagworte:
Calibration
Dynamical systems
Dynamics
Mobile robots
Passivity
Robots
Robustness
Vision systems
Visual
Visual servoing
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L2-gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2011.09.007