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针对单目视觉非完整移动机器人系统,提出了一种基于选择策略的视觉伺服镇定控制方法.具体而言,首先在视觉位姿估计的基础上,将相对位置及指向角度作为系统误差量,利用Lyapunov方法设计了视觉镇定控制律;然后,为解决该控制律在某些初始位置下导致机器人产生较大旋转角度的问题,文章对误差形式进行调整得到负向镇定控制律,进而对上述两种控制律制定相应的选择策略;同时结合主动视觉使目标特征处于摄像机的视野(field-of-view,FOV)内.仿真与实验结果表明,视觉镇定控制律能以相同控制参数在不同初始位姿下高效完成镇定任务,并且该选择控制策略可使云台旋转角处于合理的运动范围内.
In view of the monocular vision nonholonomic mobile robot system, a visual servoing stabilization control method based on the selection strategy is proposed.Firstly, based on the visual pose estimation, the relative position and the pointing angle are taken as the systematic errors, Lyapunov method is used to design the visual stabilization control law. Then, in order to solve the problem that the control law leads to a large rotation angle of the robot in some initial positions, the article adjusts the error form to obtain the negative-direction stabilization control law, The control law formulates the corresponding selection strategy, and combines the active vision to make the target feature in the camera field of view (FOV). The simulation and experimental results show that the visual stability control law can be controlled by the same control parameters at different initial pose Under the efficient completion of the stabilization task, and the choice of control strategy can make PTZ rotation angle within a reasonable range of motion.