Smooth-optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-eye Camera
文献类型：期刊论文
| 作者 | Zhao-Bing Kang1,2 ; Wei Zou1,2; Zheng Zhu1,2; Hong-Xuan Ma1,2
|
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2020 |
| 卷号 | 17期号:2页码:267-278 |
| 关键词 | Smooth motion adaptive control trajectory tracking wheeled mobile robots visual servoing. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-019-1209-4 |
| 英文摘要 | This paper presents a two-stage smooth-optimal trajectory tracking strategy. Different from existing methods, the optimal trajectory tracked point can be directly determined in an uncalibrated fish-eye image. In the first stage, an adaptive trajectory tracking controller is employed to drive the tracking error and the estimated error to an arbitrarily small neighborhood of zero. Afterwards, an online smooth-optimal trajectory tracking planner is proposed, which determines the tracked point that can be used to realize smooth motion control of the mobile robot. The tracked point in the uncalibrated image can be determined by minimizing a utility function that consists of both the velocity change and the sum of cross-track errors. The performance of our planner is compared with other tracked point determining methods in experiments by tracking a circular trajectory and an irregular trajectory. Experimental results show that our method has a good performance in both tracking accuracy and motion smoothness. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42302]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100190, China 2.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
| 推荐引用方式 GB/T 7714 | Zhao-Bing Kang,Wei Zou,Zheng Zhu,et al. Smooth-optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-eye Camera[J]. International Journal of Automation and Computing,2020,17(2):267-278. |
| APA | Zhao-Bing Kang,Wei Zou,Zheng Zhu,&Hong-Xuan Ma.(2020).Smooth-optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-eye Camera.International Journal of Automation and Computing,17(2),267-278. |
| MLA | Zhao-Bing Kang,et al."Smooth-optimal Adaptive Trajectory Tracking Using an Uncalibrated Fish-eye Camera".International Journal of Automation and Computing 17.2(2020):267-278. |
入库方式： OAI收割
来源：自动化研究所
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