Abstract—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle’s invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors.
Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.
Click here to Download Full Paper
AD Publications is a rapidly growing academic publisher in the fields of Engineering, Medical-Health, Environmental Science and Agriculture Research. AD Publications is a registered organization broad-based open access and publishes most exciting researches with respect to the subjects of our journals. The Journals is being indexed and abstracted by all major global current awareness and alerting services.
The organization aims at undertaking, co- coordinating and promoting research and development. It provides professional and academic guidance in the field of basic education, Higher Education as well in the Technical Education. Our Aims is to Promote and support, High Quality basic, Scientific Research and development in fields of Engineering, Medical-Health, Environmental Science and Agriculture Research and to Generate Public awareness, provide advice to scholar’s researchers and communicate research outcomes.
Some Important Links About Research Journal
International Journal
Agriculture Journal
Medical Journal
Environmental Journal
Engineering Journal