Visual Servo Tracking Control and Scene Depth Identification of Mobile Robots with Velocity Saturation Constraints

Qiaomei Zhang (), Baoquan Li and Fuyun Sun
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Qiaomei Zhang: Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, School of Control Science and Engineering, Tiangong University, Tianjin 300387, China
Baoquan Li: Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, School of Control Science and Engineering, Tiangong University, Tianjin 300387, China
Fuyun Sun: Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, School of Control Science and Engineering, Tiangong University, Tianjin 300387, China

Mathematics, 2025, vol. 13, issue 5, 1-19

Abstract: Velocity saturation constraints are a significant issue for wheeled mobile robots (WMRs) when designing kinematics-based control laws. To handle the problem of velocity saturation constraints, a novel monocular visual servoing controller is developed for WMRs to solve tracking problems and enable unknown depth estimation. By analyzing the kinematic model of the robot system and employing the homography decomposition technique, measurable signals are obtained to develop a visual tracking error model for non-holonomic mobile robots. To ensure that the velocity commands are consistently constrained within the allowed limits, a saturation function is employed in the designed visual servoing control law. Furthermore, an adaptive updating law is designed to estimate the unknown depth information. The boundedness of the velocity commands is analyzed to evaluate the saturation performance of the developed visual servoing controller. With the aid of Lyapunov techniques and Barbalat’s lemma, the stability of this scheme is demonstrated. The simulation and experiment verify the performance of the proposed method.

Keywords: visual servo tracking; velocity saturation; wheeled mobile robots; Lyapunov methods; depth estimation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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