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Visual Servoing Control Method of 3D Robot Based on 3D Point Cloud Processing

Published: 18 July 2023 Publication History

Abstract

A visual servoing control method based on depth point cloud is proposed to solve the problem of pose adjustment before obstacle surmounting of a rocker arm tracked robot. By pre-processing the acquired point cloud, a positional error model is created. Combined with the robot kinematics model, the adaptive control law is designed based on Lyapunov method, and the stability of the control algorithm is proved. Simulation results show that, compared with PID control and sliding mode control algorithm, the proposed control algorithm has faster convergence speed and smoother trajectory. The robot can reach the desired pose efficiently in 13. 5s in actual testing.

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  • (2024)Research on Autonomous Navigation of Dual-mode Wheel-legged Robot2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS58592.2024.10801460(9022-9029)Online publication date: 14-Oct-2024

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          cover image ACM Other conferences
          RobCE '23: Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering
          May 2023
          255 pages
          ISBN:9781450398107
          DOI:10.1145/3598151
          Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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          Publication History

          Published: 18 July 2023

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          Author Tags

          1. Depth point cloud
          2. Lyapunov method
          3. Rocker arm tracked robot
          4. Visual servo control

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          • Postgraduate Research & Practice Innovation Program of Jiangsu Province

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          • (2024)Research on Autonomous Navigation of Dual-mode Wheel-legged Robot2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS58592.2024.10801460(9022-9029)Online publication date: 14-Oct-2024

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