Object servoing of differential-drive service robots using switched control
作者机构：School of Aeronautics and AstronauticsZhejiang UniversityHangzhouPeople’s Republic of China School of Control Science and EngineeringZhejiang UniversityHangzhouPeople’s Republic of China SRO Department of Institute for Infocomm ResearchSingaporeSingapore
出 版 物：《Journal of Control and Decision》 (控制与决策学报（英文）)
年 卷 期：2023年第10卷第3期
页 面：314-325页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
主 题：Object servoing differential-drive service robots motion estimation parking controller asymptotic stabilisation
摘 要：Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed *** results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.
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