A Mobile Robot Control Research Based On Visual Predictive Control

Mobile robot technology is the highest achievements of human intelligence which has long-term and urgent applications in industrial, military and defense, field service, especially in space exploration.Visual servo control technology for mobile robot is an important field of robot technology for improving the environmental adaptation and self-control ability of mobile robot. Some research have been made by many people with plenty of improvement, but it still has a long way to go before practical application, also there are still some key issues been unresolved, which we studied some of those and put forward some of our insights. In this paper, a visual servo control architecture based on model predictive control was developed and a proper plant model for computing future prediction of the point feature trajectories is presented. An analytical form of the predictor is derived. We did some research as follows:1. This paper presents a visual servo control architecture based on model predictive control for mobile robot. The predictive control algorithm is introduced to visual servo control of mobile robots, using the point feature motion predictor a multivariable image-based predictive controller was designed for mobile robot. An image target tracking controller was designed based on camera model and target point motion model. In order to have a more accurate control over the dynamics of the mobile visual servoing system, a stabilization controller based on model predictive control was developed in the last.2. Predictive control algorithm was researched for visual servoing control; a local predictive model was given for one-step prediction of point feature motion. Mobile robot system was analyzed and a motion model was established in the Cartesian space,also the motion model of camera projection and target point feature was analyzed and build for researching the kinematics relationships between these three.3. Basic principles of visual servo control were analyzed, several methods and algorithms related to visual servo control was analyzed. The methods of target recognition for mobile robot servo control respect to the relevant characteristics of mobile robots were analyzed.Implementation, testing and validation of the mobile robot visual servoing control based on predictive control is realized on a mobile robot visual servoing simulation architecture. The performances and result are revealed and analyzed by the figure in the last.