带时延补偿的视觉跟踪控制

摘要

在实际的视觉伺服系统中，由于摄像机到图像处理设备的传输延迟和图像处理本身占用的时间，视觉信息的获取会产生时延。对此，给出了一个带有时延补偿的视觉跟踪控制方法。通过实时拟合图像雅可比矩阵，实现了对机械手末端执行器图像特征信息的实时预测，从而减小了估计误差。在此基础上，设计了一个带有时延补偿的控制方案。通过对运动目标进行跟踪的仿真实验，验证了本文时延补偿方法的有效性。%In actual visual servoing systems, image processing itself and image information transmission from a camera to an image processing device can cause time delay in the acquirement of visual information. This paper proposes a visual tracking control method with time-delay compensation. Real-time prediction of image feature information of an end-effector is achieved by on-line polynomial fitting of each element of the image Jacobian matrix, which reduces estimation error on image features. Also, a control scheme with time-delay compensation is designed. Simulation experiments of tracking a moving object verify effectiveness of the proposed method.