Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 11, Pages 6874-6884Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2020.2963889
Keywords
Regulation; Cameras; Visualization; Robot vision systems; Mobile robots; Switches; Nonholonomic mobile robots; uncalibrated extrinsic translation parameters; visual regulation
Funding
- National Natural Science Foundation of China [61733006, 61603331]
- Zhejiang Provincial Natural Science Foundation of China [LY19F030008]
- Funding for School-Level Research Projects of Yancheng Institute of Technology [xjr2019017, xjr2019018]
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This article addresses the visual regulation problem of a differential-drive mobile robot with an arbitrarily installed monocular camera in the indoor environment. A three-stage controller is designed using a novel nonadaptive switching approach, and the effectiveness of the proposed approach is demonstrated through simulation results.
This article addresses the visual regulation problem of a differential-drive mobile robot with an arbitrarily installed monocular camera in the indoor environment. A three-stage controller is designed by using a novel nonadaptive switching approach, where the unknown image depth and the uncalibrated camera-to-robot translation parameters do not need to be estimated. Convergence of the error systems with the designed controller in each stage is analyzed. Moreover, the existence of the switching time instants from each stage is proved. The simulation results are presented to show the effectiveness of the proposed approach.
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