具有速度突变抑制的全向移动机器人视觉伺服预测控制

Visual Servoing Predictive Control for Omnidirectional Mobile Robots with Suppression of Velocity Abrupt Change

在全向移动机器人视觉伺服任务过程中,为了解决由特征点的变化、车轮打滑、动态障碍等情况导致的速度突变问题,提出了一种基于神经动力学的quasi-min-max MPC视觉伺服策略。因为视觉误差的突变是引起速度突变的主要原因,所以该策略引入神经动力学模型对视觉误差进行处理,建立基于神经动力学的移动机器人视觉伺服线性参数时变预测模型,采用quasi-min-maxMPC策略获得最优速度解,从而抑制速度的突变,最终保证移动机器人能够以一个平滑的速度到达期望位姿。仿真结果验证了所提策略在抑制速度突变上的有效性。

During the visual servoing task of omnidirectional mobile robot,in order to solve the problem of sudden change of speed caused by the change of feature points,wheel slippage,dynamic obstacles and other situations,this paper proposes a neurodynamics-based visual servoing strategy for quasi-min-max MPC.Because the sudden change of visual error is the main cause of the sudden change of speed,the strategy deals with the visual error by introducing a neurodynamics model.A neurodynamics-based time-varying prediction model for the linear parameters of the visual servo of the mobile robot is established,and the quasi-min-max MPC strategy is used to obtain the optimal velocity solution,thus suppressing the sudden changes in velocity.Ultimately,it is ensured that the mobile robot can reach the desired position with a smooth velocity.Simulation results verify the effectiveness of the proposed strategy in suppressing the velocity mutation.