曹洋, 项龙江, 徐心和. 基于全局视觉的轮式移动机器人轨迹跟踪控制[J]. 机器人, 2004, 26(1): 78-82..
CAO Yang, XIANG Long-jiang, XU Xin-he. TRAJECTORY TRACKING CONTROL OF WHEELED MOBILE ROBOT BASED ON GLOBAL VISION. ROBOT, 2004, 26(1): 78-82..
Abstract：This paper considers the problem of trajectory tracking control of wheeled mobile robot via visual servoing in the presence of global vision. A control law based on eliminating the error of image characteristis is presented. The dynamic model (including motor dynamics) of nonholonomic mobile robot system is discussed and derived,and a robust velocity-tracking controller is designed. The perfermance of the control laws are testified by the experimental results.
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