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,...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on systems, man, and cybernetics. Systems Vol. 47; no. 7; pp. 1428 - 1438
Main Authors:	Ke, Fan, Li, Zhijun, Xiao, Hanzhen, Zhang, Xuebo
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.07.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Be the first to leave a comment!