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Journal of Applied Mathematics
Volume 2015, Article ID 194251, 12 pages
http://dx.doi.org/10.1155/2015/194251
Research Article

Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera

Department of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China

Received 22 April 2014; Accepted 16 July 2014

Academic Editor: Guoqiang Hu

Copyright © 2015 Dejun Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper focuses on the problem of the adaptive image-based leader-follower formation control of mobile robot with on-board omnidirectional camera. A calibrated omnidirectional camera is fixed on the follower in any position, and a feature point representing the leader can be chosen in any position. An adaptive image-based controller without depending on the velocity of the leader is proposed based on a filter technology. In other words, only by relying on the projection of the feature on the image plane, can the follower track the leader and achieve the formation control. Moreover, an observer is introduced to estimate the unknown camera extrinsic parameters and the unknown parameters of plane, where the feature point moves, relative to omnidirectional camera frame. At last, the lyapunov method is applied to prove the uniform semiglobal practical asymptotic stability (USPAS) for the closed-loop system. Simulation results are presented to validate the algorithm.