Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera

Abstract

This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with onboard omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position. An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology. In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control. Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame. At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system. Simulation results are presented to validate the algorithm.