Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera
This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any positio...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2015/194251 |
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| _version_ | 1849693934584856576 |
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| author | Dejun Guo Hesheng Wang Weidong Chen Xinwu Liang |
| author_facet | Dejun Guo Hesheng Wang Weidong Chen Xinwu Liang |
| author_sort | Dejun Guo |
| collection | DOAJ |
| description | This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position. An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology. In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control. Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame. At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system. Simulation results are presented to validate the algorithm. |
| format | Article |
| id | doaj-art-545260e73ee545d19e3b1565fab7e871 |
| institution | DOAJ |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-545260e73ee545d19e3b1565fab7e8712025-08-20T03:20:14ZengWileyJournal of Applied Mathematics1110-757X1687-00422015-01-01201510.1155/2015/194251194251Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional CameraDejun Guo0Hesheng Wang1Weidong Chen2Xinwu Liang3Department of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, ChinaDepartment of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, ChinaDepartment of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, ChinaDepartment of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, ChinaThis paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position. An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology. In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control. Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame. At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system. Simulation results are presented to validate the algorithm.http://dx.doi.org/10.1155/2015/194251 |
| spellingShingle | Dejun Guo Hesheng Wang Weidong Chen Xinwu Liang Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera Journal of Applied Mathematics |
| title | Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera |
| title_full | Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera |
| title_fullStr | Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera |
| title_full_unstemmed | Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera |
| title_short | Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera |
| title_sort | adaptive image based leader follower approach of mobile robot with omnidirectional camera |
| url | http://dx.doi.org/10.1155/2015/194251 |
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