A robust vision-based controller for mobile robots navigation: application to the task sequencing problem

摘要

This paper presents a multicriteria image-based controller and describes an application of this result to the task sequencing problem. The method allows to stabilize the camera and determine the associated region of stability in spite of unknown value of the target points depth, bounds on admissible visual feature errors which guarantee visibility, and limits on the camera velocity and acceleration. The proposed formulation, based on a mixed polytopic and norm-bounded representation of uncertainties, allows to consider LMI-based optimization schemes to maximize the size of the region of stability associated to the closed-loop system. Through this result we show the interest of the approach for designing control strategies that allow to link dynamically a sequence of sensor-based tasks. An application of the result to a problem of task sequencing is simulated in the last section.