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Improving Mobile Robot Robustness in Visual Servoing Application
Laroussi Hammouda,Hassen Mekki,Khaled Kaaniche,Mohamed Chtourou 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.10
This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence of the mobile robot to its desired pose even in the presence of modeling errors. Experimental results are presented to validate our approach and to demonstrate its efficiency.