Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 64, Issue 4, Pages 2893-2902Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2631514
Keywords
Adaptive control; mobile robot; tracking control; visual servo
Categories
Funding
- National Natural Science Foundation of China [U1613218, 61473191, 61503245, 61221003, 61673272]
- Science and Technology Commission of Shanghai Municipality [15111104802]
- Shanghai Sailing Program [15YF1406300]
- State Key Laboratory of Robotics and System, Harbin Institute of Technology
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This paper focuses on the problem of vision-based leader-follower formation control of mobile robots. The proposed adaptive controller only requires the image information from an uncalibrated perspective camera mounted at any position and orientation (attitude) on the follower robot. Furthermore, the approach does not depend on the relative position measurement and communication between the leader and follower. First, a newreal-time observer is developed to estimate the unknown intrinsic and extrinsic camera parameters as well as the unknown coefficients of the plane where the feature point moves relative to the camera frame. Second, the Lyapunov method is employed to prove the stability of the closed-loop system, where it is shown that convergence of the image error is guaranteed. Finally, the performance of the approach is demonstrated through physical experiments and experimental results.
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