Robust visual servo control of a mobile robot for object tracking using shape parameters
Journal
IEEE Transactions on Control Systems Technology
Journal Volume
20
Journal Issue
6
Pages
1461-1472
Date Issued
2012
Author(s)
Jean, J.-H.
Abstract
In this paper, we present the development of a robust visual servo system for object tracking applications of a nonholonomic mobile robot. The system mainly consists of an adaptive shape tracking algorithm and a robust visual servo controller. The adaptive shape tracking algorithm is designed to automatically detect the shape contours of moving objects, extract the shape parameters, and continuously track the object in shape parameter space. Based on direct measurements of the shape parameters, the visual servo controller is designed using the sliding mode control technique. Through a Lyapunov-based stability analysis, a sufficient condition on the selection of control gains to achieve the tracking goal in finite time is provided, and simulation and experimental tests of the proposed approach are illustrated. © 2012 IEEE.
Subjects
Mobile robot; randomized Hough transform (RHT); shape detection; sliding mode control; visual servo; visual tracking
Other Subjects
Direct measurement; Experimental test; Finite time; Lyapunov-based stability analysis; Moving objects; Non-holonomic mobile robots; Object Tracking; Randomized Hough transform; Selection of control gains; Shape contours; Shape detection; Shape parameters; Shape tracking; Sliding modes; Sufficient conditions; Visual Servo; Visual servo control; Visual servo system; Visual Tracking; Adaptive algorithms; Mobile robots; Sliding mode control; Tracking (position); Adaptive control systems
Type
journal article