基于双目视觉伺服反馈的非完整移动机器人轨迹跟踪

Tracking Control for Nonholonomic Mobile Robots with Binocular Vision Servo Feedback

针对双目视觉伺服的非完整移动机器人轨迹跟踪问题,研究了目标轨迹的识别定位及相关信息提取的辨识方法,结合非完整约束特性对(2,0)型移动机器人进行运动学建模并对轨迹跟踪问题进行描述,基于Backstepping思想进行控制器设计,利用Lyapunov函数证明了系统的稳定性。最后利用计算机仿真和实际机器人实验证实了控制系统的有效性。

This paper discusses the problem of tracking control for nonholonomic mobile robots with binocular vision servo feedback. The methods for recognizing trajectory and obtaining related information are researched. The （2,0） type nonholonomic robot kinematics model and the tracking problem description is proposed. A controller is designed based on the Backstepping theory and proved by Lyapunov function. The system validity is certified by simulation and real robot experiment.