Navigation Control Method of Indoor Mobile Robot Based on Visual Servo
In order to improve the navigation control effect of indoor mobile robot, this paper studies the navigation control method of indoor mobile robot combined with visual servo technology. For the problem that the target may be out of the camera’s field of view during the servo process, a control algori...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | International Journal of Antennas and Propagation |
| Online Access: | http://dx.doi.org/10.1155/2022/6422841 |
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| _version_ | 1832562326874619904 |
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| author | Chongfu Huang Wei Zhang |
| author_facet | Chongfu Huang Wei Zhang |
| author_sort | Chongfu Huang |
| collection | DOAJ |
| description | In order to improve the navigation control effect of indoor mobile robot, this paper studies the navigation control method of indoor mobile robot combined with visual servo technology. For the problem that the target may be out of the camera’s field of view during the servo process, a control algorithm with field-of-view constraints is proposed, which assigns a certain weight to the image feature error at each moment. Moreover, this paper realizes the servo process that the image features are always located in the field of view by setting the variable values involved in the weight value calculation method. Through the simulation test, it is verified that the indoor mobile robot navigation control method based on visual servo has certain effects. |
| format | Article |
| id | doaj-art-93efa85f6bfb477e984033dbb3cced80 |
| institution | Kabale University |
| issn | 1687-5877 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Antennas and Propagation |
| spelling | doaj-art-93efa85f6bfb477e984033dbb3cced802025-02-03T01:22:53ZengWileyInternational Journal of Antennas and Propagation1687-58772022-01-01202210.1155/2022/6422841Navigation Control Method of Indoor Mobile Robot Based on Visual ServoChongfu Huang0Wei Zhang1School of Intelligent Manufacturing and TransportationSchool of Intelligent Manufacturing and TransportationIn order to improve the navigation control effect of indoor mobile robot, this paper studies the navigation control method of indoor mobile robot combined with visual servo technology. For the problem that the target may be out of the camera’s field of view during the servo process, a control algorithm with field-of-view constraints is proposed, which assigns a certain weight to the image feature error at each moment. Moreover, this paper realizes the servo process that the image features are always located in the field of view by setting the variable values involved in the weight value calculation method. Through the simulation test, it is verified that the indoor mobile robot navigation control method based on visual servo has certain effects.http://dx.doi.org/10.1155/2022/6422841 |
| spellingShingle | Chongfu Huang Wei Zhang Navigation Control Method of Indoor Mobile Robot Based on Visual Servo International Journal of Antennas and Propagation |
| title | Navigation Control Method of Indoor Mobile Robot Based on Visual Servo |
| title_full | Navigation Control Method of Indoor Mobile Robot Based on Visual Servo |
| title_fullStr | Navigation Control Method of Indoor Mobile Robot Based on Visual Servo |
| title_full_unstemmed | Navigation Control Method of Indoor Mobile Robot Based on Visual Servo |
| title_short | Navigation Control Method of Indoor Mobile Robot Based on Visual Servo |
| title_sort | navigation control method of indoor mobile robot based on visual servo |
| url | http://dx.doi.org/10.1155/2022/6422841 |
| work_keys_str_mv | AT chongfuhuang navigationcontrolmethodofindoormobilerobotbasedonvisualservo AT weizhang navigationcontrolmethodofindoormobilerobotbasedonvisualservo |