Leader-follower scheme for unicycle-type mobile robots with mounted camera
This paper describes a formation control proposal for unicycle-type mobile robots under the leader-follower scheme with mounted camera. The control objective is determined directly in image space, hence this proposal corresponds with the Image-Based Visual Servoing (IBVS) alternative. Using the Lyap...
| Autores: | , , |
|---|---|
| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2022 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/10149 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/10149 |
| Access Level: | acceso abierto |
| Palabra clave: | Formation control unicycle-type mobile robots image-based visual servoing experimental validation Control de formación robots móviles tipo-uniciclo control servo-visual basado en imagen validación experimental |
| Sumario: | This paper describes a formation control proposal for unicycle-type mobile robots under the leader-follower scheme with mounted camera. The control objective is determined directly in image space, hence this proposal corresponds with the Image-Based Visual Servoing (IBVS) alternative. Using the Lyapunov stability theory, two controllers are designed: one that depends partially on the parameters of the vision system and another one that is robust to the three-dimensional parameters of the features that are mapped to the image space (the image features). Finally, experiments on a soft real-time platform with satisfactory results are carried out to validate the proposed theory. |
|---|