246 非ホロノミックシステムの適応トラッキング制御(ロボットの制御III)(OS ロボットの制御)

概要

論文の詳細を見る
Recently, visual servoing has gained increasing attention from researchers in the field of both vision and control. In this paper, a novel image-based visual approach for controlling nonholonomic mobile robots to track a moving target is presented. The mobile robot is endowed with a fixed camera, and a visual feedback controller is used to control the mobile robot to track a moving target of interest. A three dimensional state space representation of the camera-target visual interaction model fully defined in the image plane is used. In the case of unknown height of the moving target's symbol traced by camera, global stability is proved using an adaptive backstepping control law. Based on Lyapunov's direct method, the closed-loop stability is guaranteed. Experimental results of a mobile robot with two actuated wheels endowed with a fixed camera are provided for illustrating the tracking ability of the controller.
一般社団法人日本機械学会の論文
2001-04-20