Visual Servoing of Constrained Mobile Robots Based on Model Predictive Control

This paper develops an image-based visual servoing (IBVS) control strategy using model predictive control (MPC) to stabilize a physically constrained mobile robot. In IBVS strategy, ambiguity, and degeneracy problems of the homography and fundamental matrix-based algorithms can be avoided. Moreover,...

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Veröffentlicht in:	IEEE transactions on systems, man, and cybernetics. Systems Jg. 47; H. 7; S. 1428 - 1438
Hauptverfasser:	Ke, Fan, Li, Zhijun, Xiao, Hanzhen, Zhang, Xuebo
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.07.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Ambiguity Cameras Constraints Control systems Control theory Cost function Decay Image-based visual servoing (IBVS) Kinematics Mathematical analysis Mathematical models Matrices (mathematics) Matrix methods Mobile robots model predictive control (MPC) Neural networks neural-dynamic optimization Optimization Predictive control Quadratic programming Robot kinematics Servocontrol Visual control Visual servoing
ISSN:	2168-2216, 2168-2232
Online-Zugang:	Volltext
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