Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing
| Autor: | Ji-Wook Kwon, Dongkyoung Chwa, Sung-Goo Lee, Suk-Kyo Hong |
|---|---|
| Rok vydání: | 2011 |
| Předmět: |
Engineering
business.industry Machine vision Servo control ComputerApplications_COMPUTERSINOTHERSYSTEMS Mobile robot Function (mathematics) Visual servoing Robot control Nonlinear system Control theory Position (vector) Computer vision Artificial intelligence Electrical and Electronic Engineering business |
| Zdroj: | The Transactions of The Korean Institute of Electrical Engineers. 60:1577-1585 |
| ISSN: | 1975-8359 |
| DOI: | 10.5370/kiee.2011.60.8.1577 |
| Popis: | This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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