標題: Face tracking interaction control of a nonholonomic mobile robot
作者: Tsai, Chi-Yi
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: human-robot interaction;visual tracking control;interaction control;real-time face tracking
公開日期: 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
起始頁: 3319
結束頁: 3324
Appears in Collections:Conferences Paper


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