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RISS 인기검색어
- 검색키워드
- 저자 : Zhaobing Kang (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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Adaptive Trajectory Tracking of Wheeled Mobile Robots Based on a Fisheye Camera
Zhaobing Kang,Wei Zou,Hongxuan Ma,Zheng Zhu 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.9
This paper presents a novel adaptive trajectory tracking control method, which can precisely control wheeled mobile robots only using an uncalibrated fish-eye camera fixed on the ceiling. Different from existing approaches, the inertial device, distorted image correction, and the trajectory expression are not required in the control system. The position and orientation of the mobile robot in the camera coordinate system are estimated by the extended POSIT (Pose from Orthography and Scaling with Iteration) algorithm in real-time. Based on estimation results, the controller considering both tracking errors and parameter estimated errors is designed by linear parameterization, where the camera intrinsic parameters are online updated. The asymptotic convergence of the tracking error and the estimated error to zero is proved by the Barbalat lemma. Circular trajectory and irregular trajectory tracking experiments have been conducted to verify the performance of our controller.
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Practical Robotic Auditory Perception and Approaching Methods Based on Small-sized Microphone Array
Zhiqing Wang,Wei Zou,Chi Zhang,Zhaobing Kang,Jiagang Zhu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5
Robot control based on audition plays an important role in many robot applications, which is generally implemented by three steps: aural features extraction, sound source localization and approaching control strategy. This paper presents a novel and practical auditory perception and control method adoptable to the small-sized microphone array. Firstly, a novel aural feature extraction strategy, namely dynamic signals matching (DSM), is proposed to search for the matching points of the signals with similarity measurement based on gradient and amplitude by dynamic programming. Secondly, a new sound source localization method called steered grid search (SGS) is proposed, which combines the source localization method based on time delay of arrival (TDOA) and spatial search strategy to achieve the robustness and real-time performance. Thirdly, inspired by image-based visual control, the interaction matrix is deduced and applied to transform the spatial information of the sound source into auditory control, based on which a mechanism for robot to approach the sound source is implemented. Finally, we apply our methods to a mobile robot equipped with a small array of six microphones. The experimental results show the feasibility and the suitability of our method under adverse conditions.
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Hongxuan Ma,Wei Zou,Siyang Sun,Zheng Zhu,Zhaobing Kang 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.11
In visual servoing tasks, it is an important problem to maintain the observability to feature points on objects, which are usually used to calculate the pose between objects and robots. In particular, when the robot’s vision has a limited field of view (FOV) and the points on objects are distributed separately, the problem is more serious. In this paper, based on FOV constraint region analysis and path planning, we propose a novel method for a mobile robot equipped with a pan-tilt camera to keep all points on objects in its view. According to the HorizontalFOV and Vertical-FOV angular aperture of camera, bounding boxes assisting to calculate the regions with FOV constraint are acquired firstly. Then the region where the robot inside it cannot keep all points in its view can be obtained. Finally the mobile robot plans a shortest path from the current position to the destination, which can avoid the region with FOV constraint. The results of simulations and experiments prove that our method can make mobile robot keep all feature points in its view when it is moving.
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