Computer Science

Computer Science ›› 2024, Vol. 51 ›› Issue (11A): 240300003-6.doi: 10.11896/jsjkx.240300003

• Intelligent Computing • Previous Articles     Next Articles

Visual Servoing Predictive Control for Omnidirectional Mobile Robots with SuppressionofVelocity Abrupt Change

LIN Yegui, DAI Zhijian, HE Defeng, XING Kexin   

  1. College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China
  • Online:2024-11-16 Published:2024-11-13
  • About author:LIN Yegui,born in 1987,Ph.D.His main research interests include model predictive control and visual servoing of mobile robots.
    HE Defeng,born in 1979,Ph.D,professor.His research interests include mo-del predictive control and its applications to connected autonomous vehicles.

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Abstract: During the visual servoing task of omnidirectional mobile robot,in order to solve the problem of sudden change of speed caused by the change of feature points,wheel slippage,dynamic obstacles and other situations,this paper proposes a neurodynamics-based visual servoing strategy for quasi-min-max MPC.Because the sudden change of visual error is the main cause of the sudden change of speed,the strategy deals with the visual error by introducing a neurodynamics model.A neurodynamics-based time-varying prediction model for the linear parameters of the visual servo of the mobile robot is established,and the quasi-min-max MPC strategy is used to obtain the optimal velocity solution,thus suppressing the sudden changes in velocity.Ultimately,it is ensured that the mobile robot can reach the desired position with a smooth velocity.Simulation results verify the effectiveness of the proposed strategy in suppressing the velocity mutation.

Key words: Mobile robot, Vision servoing, Neurodynamics, Quasi-min-max MPC

CLC Number: 

  • TP242
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