Uncalibrated Visual Servo Tracking Control of Mobile Robots

摘要

In our paper, to handle the challenge introduced by the uncalibrated translational camera-to-robot parameters in a wheeled mobile robot system, a new visual servo tracking control strategy is designed. The homography decomposition method is used to get desired poses and the current pose of the mobile robot, based on which the trajectory tracking errors are defined. By combining the robot kinematic model and the system errors, the open-loop dynamics are obtained. Subsequently, a visual servo tracking controller using adaptive updating laws is elaborately designed for the task, with compensating the uncalibrated translational extrinsic parameters. Simulation results are given to show the effectiveness of this scheme.