Earticle

초록

영어

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.

목차

Abstract
 1. Introduction
 2. The Visual Servoing Problem Formulation
 3. Adaptation of Visual Servoing to Nonholonomic Mobile Robot
 4. Visual Servoing Based on Second-order Error-Dynamics
 5. Experimental Results
 6. Conclusion
 References

키워드

저자

• Laroussi Hammouda [ CEM Laboratory, University of Sfax, Tunisia ]
• Hassen Mekki [ CEM Laboratory, University of Sfax, Tunisia, National School of Engineering of Sousse, University of Sousse, Tunisia ]
• Khaled Kaaniche [ CEM Laboratory, University of Sfax, Tunisia, National School of Engineering of Sousse, University of Sousse, Tunisia ]
• Mohamed Chtourou [ CEM Laboratory, University of Sfax, Tunisia ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605