基于视觉的移动机器人轨迹跟踪

摘要

The theory of visual servo is introduced into the kinematics model of mobile robot. The trajectory tracking control problem of nonholonomic mobile robot is researched when the center of mass and geometric center does not coincide. A new kinematics tracking error model is presented using the camera system fixed on the ceiling , and the trajectory tracking controller is designed by using adaptive technology. The stability of the closed-loop system is strictly proved based on the Lyapunov method. The Matlab simulations verify the effectiveness of the controller.%借助视觉反馈，研究了质心与几何中心不重合的非完整移动机器人轨迹跟踪控制问题。利用固定在天花板上的摄像机系统，作者提出了一种基于视觉伺服的运动学跟踪误差模型；基于这个模型，在质心与几何中心和视觉参数未知的情形下，作者设计了自适应轨迹跟踪控制器，并运用李雅普诺夫方法严格证明了闭环系统的稳定性。 Matlab仿真证明了控制器的有效性。