标题: | Face tracking interaction control of a nonholonomic mobile robot |
作者: | Tsai, Chi-Yi Song, Kai-Tai 电控工程研究所 Institute of Electrical and Control Engineering |
关键字: | human-robot interaction;visual tracking control;interaction control;real-time face tracking |
公开日期: | 2006 |
摘要: | This paper presents a novel face tracking control scheme for human-robot interaction control in image plane. This control scheme is robust to the velocity quantization error in practical implementation. A visual tracking controller is designed for ensuring global asymptotic stability of the closed-loop visual tracking system based on an error-state control model in image plane. In order to overcome the quantization uncertainty encountered in practical systems, an image-based robust control law is proposed to guarantee the stability of the robotic control system based on Lyapunov theory. This design provides a useful solution for smooth visual tracking control of slow-motion robots in a home setting. Simulation and Experimental results verify the effectiveness of the proposed visual tracking control scheme, both in terms of tracking performance and system convergence. |
URI: | http://hdl.handle.net/11536/17309 http://dx.doi.org/10.1109/IROS.2006.282505 |
ISBN: | 978-1-4244-0258-8 |
DOI: | 10.1109/IROS.2006.282505 |
期刊: | 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 |
起始页: | 3319 |
结束页: | 3324 |
显示于类别: | Conferences Paper |
文件中的档案:
If it is a zip file, please download the file and unzip it, then open index.html in a browser to view the full text content.