Robust Visual Servo Control of a Mobile Robot for Object Tracking Using Shape Parameters


In this paper, we present the event of a sturdy visual servo system for object tracking applications of a nonholonomic mobile robot. The system mainly consists of an adaptive form tracking algorithm and a strong visual servo controller. The adaptive form tracking algorithm is designed to automatically detect the shape contours of moving objects, extract the shape parameters, and continuously track the object in form parameter space. Primarily based on direct measurements of the form parameters, the visual servo controller is meant using the sliding mode control technique. Through a Lyapunov-based mostly stability analysis, a sufficient condition on the choice of management gains to attain the tracking goal in finite time is provided, and simulation and experimental tests of the proposed approach are illustrated.

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