A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera
文献类型：会议论文
| 作者 | Dejun Guo; Hesheng Wang; Weidong Chen; Ming Liu; Zeyang Xia; Kam K. Leang |
| 出版日期 | 2017 |
| 会议日期 | 2017 |
| 会议地点 | Marina Bay Sands in Singapore |
| 英文摘要 | This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader’s motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-Global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/12164]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Dejun Guo,Hesheng Wang,Weidong Chen,et al. A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera[C]. 见:. Marina Bay Sands in Singapore. 2017. |
入库方式： OAI收割
来源：深圳先进技术研究院
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