摘要
提出一种新的带有时延补偿的图像雅可比矩阵在线估计方法,用于存在时延的无标定视觉伺服系统.传统的图像雅可比矩阵估计方法没有考虑时延影响,从而产生较大的估计误差.为了补偿时延,本文采用局部拟合方法估计图像雅可比矩阵,以获得当前时刻更准确的图像雅可比矩阵估值,并可对图像预补偿.本文以无标定的移动机器人和视觉传感器为实验对象,仿真和实验表明该方法改善了系统的动态性能,减小了稳态误差,从而验证带有时延补偿的图像雅可比矩阵估计方法的可行性和有效性.
A novel online estimation of image Jacobian matrix with time-delay compensation for uncalibrated visual servoing is proposed. The traditional methods didn＇t consider the time-delay which causes larger estimation error. In order to compensate the time-delay, local fitting Jacobian matrix with time-delay compensation based on polynomial fitting is employed to obtain more accurate Jacobian estimation and image precompensation. Simulations and experiments of uncalibrated mobile robot and uncalibrated visual sensors show that this method improves the system dynamic performance and reduces the steady-state error, demonstrating the feasibility and validity of the time-delay compensation.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2009年第1期23-27,共5页
Control Theory & Applications
基金
国家自然科学基金资助项目(60675041)
关键词
无标定视觉伺服
时延补偿
图像雅可比矩阵估计
uncalibrated visual servoing
time-delay compensation
image Jacobian matrix estimation
