Tracking of Nonholonomic Control Systems Based on Visual Servoing Feedback

摘要

This paper investigated the visual servoing tracking of nonholonomic mobile robots. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat theorem and two-step techniques were exploited to craft a robust controller that enables the mobile robot image pose and the orientation tracking despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem was discussed in the image frame and the inertial frame, which made the problem easy and useful. The convergence of the error system by using the proposed method was rigorously proved. The simulation was given to show the effectiveness of the presented controllers.