To solve the control problem of visual mobile robot formation without position information,a leader-following formation feedback control method based on vision is proposed.In this strategy,an observer,by using the coordinate information of the leader feature points on the image plane of the camera carried by the follower,was designed to estimate the relative position between leader and follower.The leader-following feedback controller was designed according to the relative position estimation between leader and follower and their velocities.Lyapunov stability theory was used to prove the closed-loop system stability.The simulation results show that the proposed formation control method can effectively solve the problem of formation control of visual mobile robots without position information.
关键词
视觉移动机器人/leader-following编队/缺乏位置信息/相对位置/反馈控制
Key words
Visual mobile robot/Leader-following formation/Without position information/Relative position/Feedback control
维普
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