基于预测控制的非完整移动机器人视觉伺服镇定

曹政才; 殷龙杰; 付宜利; 刘天龙

doi:10.3724/SP.J.1004.2013.01238

基于预测控制的非完整移动机器人视觉伺服镇定

doi: 10.3724/SP.J.1004.2013.01238

1.
北京化工大学信息科学与技术学院北京 100029;
2.
同济大学嵌入式系统与服务计算教育部重点实验室上海 201804;
3.
哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080

基金项目:

Supported by International Science and Technology Cooperation Program (2011DFG13000), Open Foundation of State Key Lab of Fluid Power Transmission and Control of China (GZKF-201212), Fundamental Research Funds for Central Universities of China (ZZ1222), and Key Laboratory of Advanced Engineering Surveying of NASMG of China (TJES1106)

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出版历程
- 收稿日期: 2012-07-19
- 修回日期: 2012-12-20
- 刊出日期: 2013-08-20

Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

1.
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China;
2.
Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai 201804, China;
3.
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China

Funds:

More Information

Corresponding author: CAO Zheng-Cai

摘要

摘要: 非完整移动机器人视觉伺服镇定越来越受到人们的广泛关注. 目前研究人员在解决该问题时未同时考虑摄像机的可见性约束和机器人系统的控制约束, 所设计的控制器在实际应用中很难实现满意的控制. 针对此问题, 本文设计一种预测控制器来解决移动机器人视觉伺服镇定问题. 首先设计运动学预测镇定控制器来产生参考速度指令; 然后设计动力学预测控制器使移动机器人实际速度渐近逼近期望值; 所设计的预测控制器能够容易处理系统中存在的可见性约束和控制约束; 最后对所提出的视觉伺服镇定方法进行仿真验证, 结果表明所设计的控制器能有效解决移动机器人视觉伺服镇定问题.
- 非完整移动机器人 /
- 视觉伺服镇定 /
- 预测控制
Abstract: Visual servo stabilization of nonholonomic mobile robots has gained extensive attention. However, currently, the solution of the problem does not consider both the visibility constraints and the actuator limitations, so the designed controller is diffcult to realize satisfactory performance in practical application. In this paper, a predictive controller for the visual servo stabilization of a mobile robot is presented. Firstly, a kinematic predictive stabilization controller utilized to generate the command of velocity is introduced. Then, in order to make the actual velocity of the mobile robot asymptotically approach to the desired one, a dynamic predictive controller is designed. The proposed predictive controller can deal with the constraints easily. Finally, several simulations are performed, and the results illustrate that the proposed control scheme is effective to solve the visual servo stabilization problem.
- Nonholonomic mobile robots /
- visual servo stabilization /
- predictive control

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参考文献(17)

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