Abstract
Aiming at the stabilization problem of mobile robot system in a complex environment, the 2D trifocal tensor visual system is used for the real-time estimation of robot position, which can enhance the robustness of robot visual servo system. On this basis, an adaptive control method is used to realize the motion control of mobile robot. The design of the sliding mode speed tracking controller makes the actual speed of mobile robot tend to the expected speed of the adaptive controller, to avoid the shake problem when the speed of mobile robot changes. The simulation results show that the proposed visual adaptive control system has high stability and robustness, and the sliding mode speed tracker is effective.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Jean, J.H., Lian, F.L.: Robust visual servo control of a mobile robot for object tracking using shape parameters. IEEE Trans. Control Syst. Technol. 20(6), 1461–1472 (2012)
Liu, Y.H., Wang, H., Chen, W., et al.: Adaptive visual servoing using common image features with unknown geometric parameters. Automatica 49(8), 2453–2460 (2013)
Cherubini, A., Chaumette, F.: Visual navigation of a mobile robot with laser-based collision avoidance. Int. J. Robot. Res. 32(2), 189–205 (2013)
Gans, N.R., Hu, G., Shen, J., et al.: Adaptive visual servo control to simultaneously stabilize image and pose error. Mechatronics 22(4), 410–422 (2012)
Chesi, G., Shen, T.: Conferring robustness to path-planning for image-based control. IEEE Trans. Control Syst. Technol. 20(4), 950–959 (2012)
Bonin-Font, F., Ortiz, A., Oliver, G.: Visual navigation for mobile robots: a survey. J. Intell. Rob. Syst. 53(3), 263–296 (2008)
Reyes, R., Murrieta-Cid, R.: An approach integrating planning and image-based visual servo control for road following and moving obstacles avoidance. Int. J. Control 1–15 (2019)
Becerra, H.M., Sagüés, C., Mezouar, Y., et al.: Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint. Autonom. Robot. 37(2), 137–156 (2014)
Li, B., Fang, Y., Zhang, X.: 2D trifocal tensor based visual servo regulation of nonholonomic mobile robots. In: Proceedings of the 32nd Chinese Control Conference. IEEE, pp. 5764–5769 (2013)
Zhang, X., Fang, Y., Sun, N.: Visual servoing of mobile robots for posture stabilization: from theory to experiments. Int. J. Robust Nonlinear Control 25(1), 1–15 (2015)
Xin, Z., Fengjuan, L., Maode, Y.: Dynamic model-based adaptive sliding-mode trajectory tracking control over wheeled mobile robot. Mech. Sci. Technol. Aerosp. Eng. 1, 24 (2012)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press (2003)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Gao, Q., Xiao, W. (2021). Design of Visual Adaptive Control System for Mobile Robot Based on Sliding Mode Speed Tracking. In: WU, C.H., PATNAIK, S., POPENTIU VLÃDICESCU, F., NAKAMATSU, K. (eds) Recent Developments in Intelligent Computing, Communication and Devices. ICCD 2019. Advances in Intelligent Systems and Computing, vol 1185. Springer, Singapore. https://doi.org/10.1007/978-981-15-5887-0_73
Download citation
DOI: https://doi.org/10.1007/978-981-15-5887-0_73
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-5886-3
Online ISBN: 978-981-15-5887-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)