Passivity based visual servoing of mobile robots with dynamics compensation

Abstract This paper presents an image-based dynamic visual servoing to make a mobile robot able to track a moving object on the workspace by using a calibrated on board vision system. The stability of the proposed system is proved based on its passivity properties. A robustness analysis and an L 2 -gain performance analysis are also presented. Experimental results are shown to illustrate the system performance.

[1]  Koichi Hashimoto,et al.  Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback , 1993 .

[2]  Masayuki Fujita,et al.  PASSIVITY-BASED DYNAMIC VISUAL FEEDBACK CONTROL WITH A MOVABLE CAMERA , 2005 .

[3]  Dongjun Lee,et al.  Passivity-Based Control of Bipedal Locomotion , 2007, IEEE Robotics & Automation Magazine.

[4]  Takeo Kanade,et al.  Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision , 1993, IEEE Trans. Robotics Autom..

[5]  Gonzalo López-Nicolás,et al.  Visual control of vehicles using two-view geometry , 2010 .

[6]  A. Isidori,et al.  Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems , 1991 .

[7]  A. Schaft.  L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences 218 , 1996 .

[8]  P. Fiorini,et al.  Switching visual servoing approach for stable corridor navigation , 2009, 2009 International Conference on Advanced Robotics.

[9]  Dongjun Lee,et al.  Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots , 2007, Robotics: Science and Systems.

[10]  Murat Arcak,et al.  Passivity as a Design Tool for Group Coordination , 2007, IEEE Transactions on Automatic Control.

[11]  Ricardo Carelli,et al.  CENTRALIZED FORMATION CONTROL OF NON-HOLONOMIC MOBILE ROBOTS , 2006 .

[12]  José Santos-Victor.  Vision-based remote control of cellular robots , 1998, Robotics Auton. Syst..

[13]  José Santos-Victor,et al.  Direct visual tracking control of remote cellular robots , 2006, Robotics Auton. Syst..

[14]  M.I. El-Hawwary,et al.  Global path following for the unicycle and other results , 2008, 2008 American Control Conference.

[15]  Masayuki Fujita,et al.  Visual motion observer-based pose synchronization: A passivity approach , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[16]  Rafael Kelly,et al.  Control based on perspective lines of a non-holonomic mobile robot with camera-on-board , 2006 .

[17]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[18]  F. L. Lewis,et al.  Motion planning and control for non-holonomic mobile robots , 1995, Proceedings of Tenth International Symposium on Intelligent Control.

[19]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[20]  P. Kalata.  The Tracking Index: A Generalized Parameter for α-β and α-β-γ Target Trackers , 1984, IEEE Transactions on Aerospace and Electronic Systems.

[21]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[22]  Hiroyuki Kawai,et al.  Passivity-based Visual Motion Observer with Panoramic Camera for Pose Control , 2011, J. Intell. Robotic Syst..

[23]  C. A. Desoer,et al.  Nonlinear Systems Analysis , 1978 .

[24]  José M. Sebastián,et al.  Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad , 2008 .

[25]  R. Ortega,et al.  On passivity‐based output feedback global stabilization of euler‐lagrange systems , 1995 .

[26]  Mathukumalli Vidyasagar,et al.  New passivity-type criteria for large-scale interconnected systems , 1979 .

[27]  M. Fujita,et al.  Image-based dynamic visual feedback control via passivity approach , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[28]  Hiroyuki Kawai,et al.  Passivity-Based Dynamic Visual Feedback Control for Three-Dimensional Target Tracking: Stability and $L_{2}$-Gain Performance Analysis , 2007, IEEE Transactions on Control Systems Technology.

[29]  Raquel Frizera Vassallo,et al.  Hybrid Collaborative Stereo Vision System for Mobile Robots Formation , 2009 .

[30]  Josechu J. Guerrero,et al.  Visual control through the trifocal tensor for nonholonomic robots , 2010, Robotics Auton. Syst..

[31]  Thor I. Fossen,et al.  Passivity-Based Designs for Synchronized Path Following , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[32]  David J. Hill,et al.  Stability results for nonlinear feedback systems , 1977, Autom..

[33]  Masayuki Fujita,et al.  Passivity-based 3D attitude coordination: Convergence and connectivity , 2007, 2007 46th IEEE Conference on Decision and Control.