| Lu Xiang (卢翔),Liu Jingtai,Yu Kaiyan,Li Yan,Sun Lei.[J].高技术通讯(英文),2013,19(4):413~421 |
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| Uncalibrated visual servoing design for competitive networked robots |
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| DOI： |
| 中文关键词: |
| 英文关键词: visual servoing, uncalibrated eye-in-hand, robust information filter, Lyapunov method |
| 基金项目: |
| Author Name | Affiliation | | Lu Xiang (卢翔) | | | Liu Jingtai | | | Yu Kaiyan | | | Li Yan | | | Sun Lei | |
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| 中文摘要: |
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| 英文摘要: |
| In this paper, a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS (Tele-Light Saber) game. It is not necessary to calibrate camera parameters and predict the trajectory of the moving object. Firstly, the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed, and then an update law is designed to estimate the image Jacobian online. Furthermore, a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors. No assumption for the moving objects is needed. Finally, both simulation and experimental results are shown to support the approach in this paper. |
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