Abstract
An image-based visual servo with omni-directional camera is proposed to reach the desired distance and bearing between leaders’ robot and followers’ robot. First, the model of the omni-directional vision system is given. Then the improved vision model is presented and used during the following controller design. Furthermore, a nonlinear feedback control method is proposed for stabling the desired distance and bearing between the two robots. And the control algorithm utilizes estimations of the external input term which is only relative to the leader’s translational and angular accelerations. Finally, some experimental results show that the proposed model and control approach can effectively realize the formation by using only omni-directional vision system.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China under grant 61203275 and the Tianjin Research Program of Application Foundation and Advanced Technology (11JCYBJC06500).
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© 2013 Springer-Verlag Berlin Heidelberg
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Chen, H., Xing, G., Ma, Z., Wang, J., Yang, P. (2013). An Image-Based Visual Servo Control of Robots with Omni-Directional Camera. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_26
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DOI: https://doi.org/10.1007/978-3-642-38524-7_26
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