Affiliation:
1. School of Electrical Engineering, Nantong University, Nantong 226019, China
Abstract
For the constrained mobile robot automatic parking system, the hybrid model predictive control with a penalty factor based on image-based visual servoing (IBVS) is proposed to address the problem of feature point loss and emergency braking in dynamic obstacle scenarios caused by excessive target bias gain when using traditional IBVS control methods. The traditional IBVS control is transformed into an optimization problem with constraints in the finite time domain, by defining the optimization function based on the mobile robot’s positional deviation and image feature point deviation, while using actuator saturation and speed limit as constraints. Based on this, a convex optimization function with penalty factors is defined and combined with incremental model predictive control. This control strategy could ensure the emergency braking performance of the mobile robot when the image feature points are massively obscured by obstacles in dynamic scenes, while improving the accuracy and real-time of its trajectory tracking control. Finally, simulation comparisons are conducted to verify the effectiveness of the proposed control method.
Funder
National Natural Science Foundation of China
Natural Science Research Program of Jiangsu Colleges and Universities
Excellent Teaching Team of “Qinglan Project” of Jiangsu Colleges and Universities and the Talent Introduction Startup Fund of Nantong University
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Reference21 articles.
1. Yu, Y. (2023). Smart parking system based on edge-cloud-dew computing architecture. Electronics, 12.
2. Chen, W., Xu, T., Liu, J., Wang, M., and Zhao, D. (2019). Picking robot visual servo control based on modified fuzzy neural network sliding mode algorithms. Electronics, 8.
3. Synthetic robust model predictive control with input mapping for constrained visual servoing;He;IEEE Trans. Ind. Electron.,2023
4. A tutorial for monocular visual servoing;Xu;Acta Automatica Sin.,2018
5. A homography-based visual servo control approach for an underactuated unmanned aerial vehicle in GPS-denied environments;Zhong;IEEE T. Intell. Veh.,2023