基于全局视觉的服务机器人滑模轨迹跟踪控制

Sliding model tracking control of service robot based on global vision

以轮式移动服务机器人的轨迹跟踪控制为研究对象,分别建立了轮式移动机器人在任务空间和视觉空间内的运动学模型,利用摄像机成像模型,实现了视觉空间到任务空间的速度向量变换。采用视觉伺服控制方法,构建了全局视觉轨迹跟踪控制结构。结合滑模控制思想,建立了具有全局渐近稳定的滑模轨迹跟踪控制器。以具有任意初始误差的圆和直线为参考轨迹,进行了仿真研究。仿真结果表明,所构建的系统控制器具有理想的响应速度和跟踪精确性。

Trajectory tracking control of wheeled-mobile service robot is the research target. Kinematics model of wheeled mobile robot in task space and vision space has been built. With the imaging model of camera, velocity vector is transferred from vision space to task space. The global visual trajectory tracking control structure is developed by using visual servoing control method. A sliding model trajectory tracking controller with global asymptotic stability is constructed by referring to sliding mode control method. A simulation research about tracking a straight line and a circle with arbitrary initial tracking errors has been done. Simulation results show that the built system controller has ideal response speed and tracking accuracy.