IEEE Trans Cybern. 2018 Feb;48(2):571-582. doi: 10.1109/TCYB.2016.2646719. Epub 2017 Jan 13.
Despite tremendous efforts made for years, trajectory tracking control (TC) of a nonholonomic mobile robot (NMR) without global positioning system remains an open problem. The major reason is the difficulty to localize the robot by using its onboard sensors only. In this paper, a newly designed adaptive trajectory TC method is proposed for the NMR without its position, orientation, and velocity measurements. The controller is designed on the basis of a novel algorithm to estimate position and velocity of the robot online from visual feedback of an omnidirectional camera. It is theoretically proved that the proposed algorithm yields the TC errors to asymptotically converge to zero. Real-world experiments are conducted on a wheeled NMR to validate the feasibility of the control system.
尽管多年来付出了巨大努力，但在没有全球定位系统的情况下对非完整移动机器人（NMR）进行轨迹跟踪控制（TC）仍然是一个未解决的问题。主要原因是仅使用其车载传感器很难对机器人进行定位。本文针对无位置、方位和速度测量的 NMR，提出了一种新的自适应轨迹 TC 方法。该控制器是基于一种新算法设计的，该算法可从全景摄像机的视觉反馈中在线估计机器人的位置和速度。从理论上证明了所提出的算法使 TC 误差渐近收敛到零。在轮式 NMR 上进行了实际实验，以验证控制系统的可行性。
