摘要
为解决目标远离摄像机视野问题,本文提出了一种基于混合视觉伺服的切换控制方法,根据目标在图像平面的位置,通过在两种具有不同特性的控制策略之间进行切换完成视觉伺服任务。采用的混合视觉伺服方法实现了平动和转动自由度的解耦,当目标位于图像平面中心区域时,采用控制策略使转动自由度误差指数级减小;当目标位于边界区域时,切换到另一种控制策略,使目标重新回到中心区域,通过切换控制最终完成伺服任务。仿真实验验证了提出的基于混合视觉伺服切换控制方法的有效性。
A switching control approach based on hybrid visual servoing is proposed to solve the difficulty of object leaving camera＇s view. It switches between two control schemes with different features by observing object＇s position in image plane to manage visual servoing task. Since hybrid visual servo decouples translational and rotional degree of freedom（d, o. f）, one control scheme is adopted to reduce the error of rotational d. o. f exponentially when object lies in the central area of image plane, and it is switched to the other control scheme to move object backwards to the central area when the object reaches the boundary area. It can succeed in servoing task through switching control finally. The simulation results demonstrate the effectiveness of the proposed method.
出处
《传感技术学报》
CAS
CSCD
北大核心
2009年第4期602-607,共6页
Chinese Journal of Sensors and Actuators
基金
国家863高技术研究发展计划支持项目资助(2006AA10Z204)
关键词
混合视觉伺服
切换控制
单应性矩阵
图像矩
hybrid visual servoing
switching control
homography
image moment
