Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition
For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extr...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/739894 |
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| _version_ | 1832563200227278848 |
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| author | Chunfu Wu Guodong Li Qingshun Tang Fengyu Zhou |
| author_facet | Chunfu Wu Guodong Li Qingshun Tang Fengyu Zhou |
| author_sort | Chunfu Wu |
| collection | DOAJ |
| description | For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown. Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method. Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function. Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification. The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise. Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters. |
| format | Article |
| id | doaj-art-0d6e9809fa79451c9fe3c1bae7f6d3fe |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-0d6e9809fa79451c9fe3c1bae7f6d3fe2025-02-03T01:20:41ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/739894739894Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography DecompositionChunfu Wu0Guodong Li1Qingshun Tang2Fengyu Zhou3School of Mechanical and Electrical Engineering, Longyan University, Longyan, Fujian 364012, ChinaSchool of Mechanical and Electrical Engineering, Longyan University, Longyan, Fujian 364012, ChinaSchool of Mechanical and Electrical Engineering, Longyan University, Longyan, Fujian 364012, ChinaSchool of Control Science and Engineering, Shandong University, Jinan, Shandong 250061, ChinaFor the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown. Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method. Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function. Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification. The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise. Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters.http://dx.doi.org/10.1155/2015/739894 |
| spellingShingle | Chunfu Wu Guodong Li Qingshun Tang Fengyu Zhou Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition Journal of Control Science and Engineering |
| title | Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition |
| title_full | Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition |
| title_fullStr | Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition |
| title_full_unstemmed | Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition |
| title_short | Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition |
| title_sort | adaptive hybrid visual servo regulation of mobile robots based on fast homography decomposition |
| url | http://dx.doi.org/10.1155/2015/739894 |
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