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Mobile robot visual servo control method based on a Lyapunov function

A mobile robot and visual servo technology, applied in the field of robotics, can solve problems such as constrained limited boundary optimization control, and achieve the effect of solving constrained limited boundary and optimal control

Active Publication Date: 2021-06-25
浙江同筑科技有限公司
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Problems solved by technology

The optimized parameters of the controller are obtained by off-line calculation, which solves the problem of constrained finite boundaries and optimal control

Method used

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  • Mobile robot visual servo control method based on a Lyapunov function
  • Mobile robot visual servo control method based on a Lyapunov function
  • Mobile robot visual servo control method based on a Lyapunov function

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Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings.

[0078] refer to Figure 1-5 As shown, a mobile robot visual servo control method based on Lyapunov function, the specific steps are as follows:

[0079] Step 1) Establish robot kinematics model:

[0080] 1.1) The robot kinematics model is expressed as

[0081]

[0082] Where q=[x,y,θ] T is the state of the robot, x and y are the center coordinates of the robot, θ is the orientation angle of the mobile robot, v(t) is the linear velocity of the mobile robot, ω(t) is the angular velocity of the mobile robot, here the linear velocity of the mobile robot is selected v and angular velocity w are used as control inputs for the robot.

[0083] 1.2) Assuming that four feature points in space are used as target points, according to the projection model, the two-dimensional image coordinates p=[p x ,p y ] T Can be obtained by the following formula:

[0084] P x =fx c...

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Abstract

The invention discloses a mobile robot visual servo control method based on a Lyapunov function. According to the method, a series of explicit stable control laws are designed by adopting discrete time CLF of a visual servo system, and then a group of optimal parameters of the control laws are calculated by off-line solving and considering an optimal control problem of visible constraints and actuator constraints. According to the invention, simulation results show that the algorithm is feasible and effective in the visual servo control of the incomplete mobile robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a visual servo control method of a mobile robot based on Lyapunov functions. Background technique [0002] In recent years, visual feedback-based servo control of mobile robots has received increasing attention, usually focusing on nonholonomic kinematic constraints, i.e., nonholonomic mobile robots (NMRs). In the study of NMRs servo control based on visual feedback, there are two basic visual servo control problems, namely visual servo tracking control and visual servo stabilization control of NMRs. Under the framework of position-based visual servoing system, these visual servoing control problems can be reduced to non-visual servoing system Cartesian motion control problems. [0003] In earlier studies, visual servo stabilization of NMRs required position information of feature points relative to the camera-robot platform. The image-based visual servoing method can obtain pri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06F30/20
CPCG05D1/0251G05D1/0223G05D1/0214G05D1/0221G05D1/0276G06F30/20
Inventor 林叶贵邢科新何德峰邢明
Owner 浙江同筑科技有限公司
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