Mobile robot visual servo tracking control method based on adaptive dynamic programming

The invention discloses a mobile robot visual servo tracking control method based on self-adaptive dynamic programming, which comprises the following steps of: shooting a current image, an expected image and a reference image of coplanar feature points through a camera on a mobile robot, and calcula...

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Bibliographic Details
Main Authors LOH, BILL, OUYANG ZHIHUA
Format Patent
LanguageChinese
English
Published 06.05.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a mobile robot visual servo tracking control method based on self-adaptive dynamic programming, which comprises the following steps of: shooting a current image, an expected image and a reference image of coplanar feature points through a camera on a mobile robot, and calculating current pose information and expected pose information of the mobile robot by utilizing a homography technology; a tracking error model is obtained in combination with robot kinematics; the optimal control problem of the tracking error model is converted into the solution of a Hamiltonian-Jacobian-Bellman equation; and solving a Hamiltonian-Jacobian-Bellman equation by using a self-adaptive online learning algorithm by using the actual state information of the mobile robot to obtain an optimal value function, and controlling the mobile robot by using the optimal control input corresponding to the optimal value function, according to the method, the mobile robot can complete a trajectory tracking task and ensur
Bibliography:Application Number: CN202111665184