TY - JOUR
T1 - Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots with Experimental Evaluations
AU - Perez-Alcocer, Ricardo
AU - Montoya-Villegas, Luis Gonzalo
AU - Lopez-Martinez, Angel Eduardo
AU - Moreno-Valenzuela, Javier
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2021
Y1 - 2021
N2 - A novel saturated visual control strategy for nonholonomic mobile robots is presented. The principal focus is to deal with the stabilization problem. The saturation bounds for the control actions avoid exceeding the physical restrictions of the actuators. This feature is the main difference concerning related works. The closed-loop system is analyzed using the theory of non-autonomous cascade systems, and global uniform asymptotic stability is guaranteed. Experimental validation is carried out by using a unicycle-type mobile robot with an onboard camera. The experiment consists of stabilizing the robot in a preset pose using visual information. The experimental results are compared with a literature unsaturated visual servoing strategy. The results confirm the effectiveness of the proposed approach, completing the assigned task and bounding the control inputs.
AB - A novel saturated visual control strategy for nonholonomic mobile robots is presented. The principal focus is to deal with the stabilization problem. The saturation bounds for the control actions avoid exceeding the physical restrictions of the actuators. This feature is the main difference concerning related works. The closed-loop system is analyzed using the theory of non-autonomous cascade systems, and global uniform asymptotic stability is guaranteed. Experimental validation is carried out by using a unicycle-type mobile robot with an onboard camera. The experiment consists of stabilizing the robot in a preset pose using visual information. The experimental results are compared with a literature unsaturated visual servoing strategy. The results confirm the effectiveness of the proposed approach, completing the assigned task and bounding the control inputs.
KW - Mobile robot
KW - real-time experiments
KW - saturated control
KW - stabilization problem
KW - visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85115680807&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2021.3114100
DO - 10.1109/ACCESS.2021.3114100
M3 - Artículo
AN - SCOPUS:85115680807
SN - 2169-3536
VL - 9
SP - 130680
EP - 130689
JO - IEEE Access
JF - IEEE Access
ER -