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1、43rdIEEEConferenceonDecisionandControlThC11.1December14-17,2004Atlantis,ParadiseIsland,BahamasRobustVisualServoControlofaMobileRobotforObjectTrackinginShapeParameterSpaceJong-HannJeanandTien-PaoWuDepartmentofElectricalEngineering,St.John’sandSt.Mary’sInst
2、ituteofTechnology,Tamsui,Taipei,Taiwan,R.O.C.e-mail:jhjean@mail.sjsmit.edu.twRegardingthedesignofvisualservocontrollers,afairAbstract—Inthispaper,wedeveloparobustvisualservoamountofresearchworkshaveaddressedtheissueforrobotsystemforobjecttrackingapplicati
3、onsofanonholonomicsystemsinrecentyears[1].Particularlyformobilerobotmobilerobot.Thesystemmainlyconsistsofanadaptiveshapesystems,severalcontrolalgorithms[18-21]havebeentrackingalgorithmandarobustvisualservocontroller.Thedevelopedtorealizevision-basedfeedba
4、ckcontrol.Foradaptiveshapetrackingalgorithmisdesignedtoautomaticallydetecttheshapecontoursofmovingobjects,extracttheshapeexample,visualservotechniquesusingimagefeaturesofparameters,andcontinuouslytracktheobjectinshapecertaingeometricprimitivesareproposedi
5、n[18]andareparameterspace.Basedondirectmeasurementsoftheshapeextendedtocontrolamobilehand-eyesystem[19].parameters,thevisualservocontrollerisdesignedbyusingtheStabilizingcontrollawsbasedondirectmeasurementfromslidingmodecontroltechniqueandisrobusttouncert
6、aintiesoftheimageareproposedin[20]todealwithvisionguidedtheobject’smotion.ThroughaLyapunov-basedstabilitynavigationtasksforanonholonomicmobilerobottrackinganalysis,asufficientconditiononselectionofcontrolgainstoachievethetrackinggoalinfinitetimeisprovided
7、.anarbitrarilyshapedgroundcurve.Animage-basedadaptiveKeywords:Visualservo,mobilerobot,visualtracking,slidingtrackingcontrollawisproposedin[21]tocopewithmodelmodecontrol,randomizedHoughtransform,shapedetection.uncertaintiesofmobilerobots.Inthispaper,wedeve
8、loparobustvisualservosystemforI.INTRODUCTIONobjecttrackingapplicationsofanonholonomicmobilerobot,Recently,theuseofvisionsystemsinfeedbackcontrol,i.e.focusingonthedesignofthevisualtrackingalgorithmandvisualservoing,h
