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2017 | OriginalPaper | Chapter

Visual Servoing of Mobile Robots with Input Saturation at Kinematic Level

Authors : Runhua Wang, Xuebo Zhang, Yongchun Fang, Baoquan Li

Published in: Image and Graphics

Publisher: Springer International Publishing

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Abstract

This paper addresses the eye-in-hand visual servoing problem of mobile robots with velocity input saturation. A class of continuous and bounded functions is applied for the saturated visual servoing control design. The asymptotical convergence to zero of pose errors is proven using Lyapunov techniques and LaSalle’ s invariance principle. Simulation results are provided to show that the proposed controller can stabilize the mobile robot to the desired pose under the velocity saturation constraints.

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Metadata
Title
Visual Servoing of Mobile Robots with Input Saturation at Kinematic Level
Authors
Runhua Wang
Xuebo Zhang
Yongchun Fang
Baoquan Li
Copyright Year
2017
Book
Image and Graphics

Print ISBN: 978-3-319-71606-0

Electronic ISBN: 978-3-319-71607-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-71607-7_38

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