Fang Yongchun, Dixon Warren E, Dawson Darren M, Chawda Prakash
Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China.
IEEE Trans Syst Man Cybern B Cybern. 2005 Oct;35(5):1041-50. doi: 10.1109/tsmcb.2005.850155.
A monocular camera-based vision system attached to a mobile robot (i.e., the camera-in-hand configuration) is considered in this paper. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct an adaptive estimate to compensate for a constant, unmeasurable depth parameter, and to prove asymptotic regulation of the mobile robot. The contribution of this paper is that Lyapunov techniques are exploited to craft an adaptive controller that enables mobile robot position and orientation regulation despite the lack of an object model and the lack of depth information. Experimental results are provided to illustrate the performance of the controller.
本文考虑了一种安装在移动机器人上的基于单目相机的视觉系统（即手持相机配置）。通过比较来自两个不同相机图像的物体的对应目标点，利用几何关系来推导一种变换，该变换将移动机器人的实际位置和方向与参考位置和方向联系起来。此变换用于从当前位置和方向到固定参考位置和方向合成一个旋转和平移误差系统。基于李雅普诺夫的技术用于构建自适应估计，以补偿恒定的、不可测量的深度参数，并证明移动机器人的渐近调节。本文的贡献在于利用李雅普诺夫技术设计了一种自适应控制器，该控制器能够在缺乏物体模型和深度信息的情况下实现移动机器人的位置和方向调节。提供了实验结果来说明控制器的性能。
