Research On Control Of AGV Based On Visual Servoing

As an important branch of the mobile robot, AGV has been widely used in national production, national security, social services, scientific exploration and other fields. However, those made higher need the intelligent level of the kind mobile robot. While using vision sensors detect operating environment and make right judgments to control the behavior of robot is one important requirement for intelligent.In this paper, how to use the image based visual servo and design control to solve AGV point stabilization and path tracking problem has been studied. Based visual servo GMC (General Model Control) controller and VSC (Variable Structure Control) Controller has been designed. The stability of the system has been analysis later. The main works are summarized as follows:Firstly, for the eye-in-hand visual servoing AGV system, GMC is introduced to confirm the output of the system and then an optimization control problem is solved to design the robot translational and rotational velocity. A dynamics controller is designed based computed torque method to realize the point stabilization task. Then the comparison to an optimal control low is given to propose the superiority.Secondly, a variable structure controller is proposed image based visual servoing to the mobile robot system, and realized path tracking control based image error. The global asymptotic stability of the system is proved by Lyapunov theorem.Finally, the controller of this paper is simulated by MATLAB/Simulink. The effective of those controllers are given by analysis the simulation result.