Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging ...Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.展开更多
文摘Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.
