Design of Visual Adaptive Control System for Mobile Robot Based on Sliding Mode Speed Tracking

摘要

1 Introduction Compared with other sensors, visual sensors can obtain more abundant environmental information,. With the development of image processing and computer vision technology, more and more visual sensors are applied to the field of robot motion control, which further strengthens the flexibility of a robot and expands the workspace of the robot [1-5]. Literature [6] introduces the latest research results of a visual servo system in detail, where the research of visual servo control system with a monocular camera on mobile robot mainly focuses on improving the robustness of the visual system to image noise, feature error matching, and further improving the real-time and flexibility of motion control. In literature [7], a handoff control algorithm based on the homography matrix is proposed to realize the visual servo stabilization of mobile robots. Mezouar proposed an image-based vision path control scheme for wheeled mobile robots and applied the epipolar geometry or trifocal tensor to vision servo, which is the information feedback based on geometric constraints [7].