期刊
MECHATRONICS
卷 22, 期 4, 页码 410-422出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2011.09.008
关键词
Visual servoing; Nonlinear adaptive control
A novel, Lyapunov-based visual servo controller is presented that stabilizes both the entire image and pose error vectors simultaneously, rather than a subset of the errors. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene. A stability proof is presented. Simulation and experimental results compare the performance of the proposed method to PBVS, IBVS and 2.5D VS approaches. (C) 2011 Published by Elsevier Ltd.
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