A Vision-Based Road Surface Slope Estimation Algorithm for Mobile Service Robots in Indoor Environments

Cai, Kuanqi; Chi, Wenzheng; Meng, Max Q.-H.

doi:10.1109/icinfa.2018.8812460

Cited by 6 publications

(1 citation statement)

References 18 publications

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“…To make robots more intelligent and flexible, they are often equipped with vision sensors as tools for interacting with the outside world. In recent decades, robotic visual servoing has been fully researched and widely used in various areas, such as robotic production logistic [1], robotic service [2,3], robotic navigation and exploration [4,5]. According to the different feedback information from the camera, the visual servoing system can be divided into image-based visual servoing [6,7], position-based visual servoing [8,9], and hybrid visual servoing [10,11].…”

Section: Introductionmentioning

confidence: 99%

Constrained Image-Based Visual Servoing of Robot Manipulator with Third-Order Sliding-Mode Observer

Peng¹,

Li²,

Li³

et al. 2022

Machines

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A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study. This new control strategy solves the problem of robot visual servo control with system constraints and time-varying disturbances when the camera and model of the robot manipulator are uncertain and the joint velocity is unknown. In the proposed method, the joint velocity and system centralized uncertainties are estimated simultaneously based on a third-order sliding-mode observer, and the image-based visual servoing problem is transformed into a nonlinear optimization problem based on a model predictive control method considering both visibility constraints and actuator constraints, which minimizes the predicted trajectory cost function to generate the control signal for each cycle. Simulations were carried out to verify the effectiveness of the proposed control scheme.

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