Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then,...

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Bibliographic Details
Published inComplexity (New York, N.Y.) Vol. 2020; no. 2020; pp. 1 - 13
Main Authors Ren, Bin, Guo, Fang, Qin, Yi, Wang, Fujie, Yeow, John T. W.
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 04.12.2020
Hindawi
John Wiley & Sons, Inc
Wiley
Subjects
Adaptive control
Analysis
Calibration
Cameras
Complexity
Controllers
Dynamic control
Feedback control
Kinematics
Parameter uncertainty
Robot control
Robots
Sensors
Servocontrol
Simulation methods
Tracking control
Tracking problem
Velocity
Visual control
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ISSN1076-2787
1099-0526
DOI10.1155/2020/8836468

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Summary:This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.
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ISSN:1076-2787
1099-0526
DOI:10.1155/2020/8836468