Design for AGV Based on Binocular Stereo Vision

2011 ◽  
Vol 271-273 ◽  
pp. 137-143
Author(s):  
Lin Feng Xu ◽  
Zhi Xiang Tian
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Sliding Mode ◽  
Variable Structure ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Control Law ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Sliding Mode Variable Structure

Based on the sliding mode variable structure control theory, the sliding mode control algorithm is proposed for a nonholonomic mobile robot system. The Lyapunov function and exponential approximation law are used for designing the control law of the mobile robot. And the binocular stereo vision method is proposed for the four wheeled AGV to implement the obstacle detection and the depth calculation. Finally, the control law is designed and simulated by the proposed algorithm for the wheeled mobile robot, and the simulation results show that the proposed algorithm is efficient, and also can reduce the chattering of the system, and in the experiment the four wheeled mobile robot can also successfully detect obstacles.

Control Strategy Used on UAV Motion System

2014 ◽  
Vol 1028 ◽  
pp. 186-190
Author(s):  
Hong Cheng Zhou ◽  
Zhi Peng Jiang
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Law ◽  
Low Velocity ◽  
Structure Control ◽  
Motion System ◽  
Sliding Mode Variable Structure ◽  
And Control

The servo control methods of 6-DOF motion configuration are researched. Based on analysis for characteristic of the motion configuration, the control strategy and control law used on the motion control system are presented. The controller in velocity tracking loop and location loop are respectively designed by frequency correcting method and normal control method which belongs to classical control theory. Sliding mode variable structure control method is presented for location control law designing, against the super low velocity creep caused by friction disturbance, so that the problem of location control loop low velocity creeping is solved, and a simulating experimentation demonstrate the effectiveness of the proposed approach.

Visual Servo Control for Wheeled Robot Trajectory Tracking

2011 ◽  
Vol 346 ◽  
pp. 650-656
Author(s):  
Guang Yan Xu ◽  
Xiao Yan Jia ◽  
Hong Shi ◽  
Jian Guo Cui
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Visual Servo ◽  
Trajectory Tracking Control ◽  
Structure Control ◽  
Robot Trajectory ◽  
Sliding Mode Variable Structure

In this paper, we discussed the trajectory tracking control problem of the kinematic model of wheel mobile robot. Designed an asymptotic stability tracking controller, using visual servo method based on inverse system and sliding mode variable structure control, and proposed a method to measure motion state of a target mobile robot. Simulation results show this method is feasible.

scholarly journals MOBILE ROBOT SELF-PLANNING AND NAVIGATION BASED ON ARTIFICIAL LANDMARK LOCALIZATION METHOD AND BINOCULAR STEREO VISION

2013 ◽  
pp. 162-165
Author(s):  
T. VENKATESWARA RAO ◽  
M. VEERA VENKATARAMANA RAO ◽  
P. V. NARASAIAH
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Localization Method ◽  
Binocular Stereo Vision ◽  
Unstructured Environment ◽  
Binocular Stereo ◽  
Landmark Localization

This paper describes design of artificial landmark based on colour model used for Self-planning in unstructured environment to a robot for its movement. This method provides less error in estimation when compared to existing methods. This project is an investigation into building a system which visually detects artificial landmarks to determine the landmarks within a location, decipher their position within that location and track the landmark throughout the location using Binocular stereo vision.

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