Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 68, Issue 7, Pages 6010-6019Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.2994861
Keywords
Cameras; Robot vision systems; Robot kinematics; Mobile robots; Formation control; mobile robots; prescribed performance; visibility constraints; visual servoing
Categories
Funding
- National Key R&D Program of China [2018YFB1308200]
- National Natural Science Foundation of China [61903135, 61803089, 61733004]
- Key R&D Program of Hunan Province [2018GK2022]
- Fundamental Research Funds for the Central Universities [531118010224]
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This article addresses the problem of leader-follower formation control of mobile robots using only onboard monocular cameras subjected to visibility constraints. An adaptive image-based visual servoing control strategy was proposed and demonstrated to have advantages over other schemes through numerical simulations and hardware experiments.
This article addresses the problem of leader-follower formation control of mobile robots using only onboard monocular cameras that subjected to visibility constraints. An adaptive image-based visual servoing control strategy was proposed following the prescribed performance control methodology. First, the leader-follower visual kinematics in the image plane and an error transformation with predefined performance specifications are presented. Then, an adaptive control law with online estimating the inverse height between the optical center of camera and the single feature point attached to leader is designed to ensure the global stability of the closed-loop system. Finally, the applicability and performance of the proposed control scheme are demonstrated by the numerical simulations and hardware experiments. Compared with other formation control schemes, our solution relies only on onboard visual sensors without communication, since it does not need the relative angle/distance between the robots, or the velocity of the leader. Moreover, it guarantees the prescribed transient and the steady-state performance besides the visibility constraints.
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