Research On Visual Tracking Control Of Mobile Robot Based On Kinect

Mobile robots are widely used in various fields such as family service, outdoor sports,aerospace and so on. In order to accurately perform the different kinds of external operation tasks issued by human beings, the mobile robot must ensure that the bottom has precise motion control ability. Therefore, how to ensure the accuracy of trajectory tracking control is the first condition for the successful completion of the task. This paper deeply studies the trajectory tracking control problem of the mobile robot. The main results of the research work are as follows:(1) According to the structural nonholonomic of mobile robot itself, the kinematics model of trajectory tracking control of mobile robot is established. The conventional backstepping sliding mode controller is designed and its stability is analyzed.(2) Aiming at the difficult problem of parameter selection in the conventional backstepping sliding mode controller, the standard firefly algorithm and the firefly algorithm based on the self-adaptive inertia weight of the compression factor are introduced. Firstly, the validity of the two optimization algorithms is verified by the standard test function. On this basis, the compression factor self-adaptive inertia weight firefly algorithm is applied to the optimization of the parameters of the mobile robot trajectory tracking controller. In this paper,a backstepping sliding mode controller with self-adaptive inertia weight firefly algorithm is designed, which solves the problem of parameter selection and the larger tracking error of the backstepping sliding mode trajectory tracking controller. In MATLAB, the trajectories of circle,ellipse, sine, straight line and eight-shaped are tracked. The simulation results show that the compression factor self-adaptive inertia weight firefly algorithm tuning backstepping sliding mode controller has good tracking performance for different trajectories and improves the fastness, stability and smoothness in the trajectory tracking control process.(3) This paper mainly studies the visual trajectory tracking control of mobile robot based on Kinect camera on the actual mobile robot. Firstly, the tracking control platform of mobile robot is built in MATLAB and ROS. Through the image processing, coordinate transformation,curve fitting and other methods to get the tracking information of the actual road collected by the Kinect camera. The control quantity (linear velocity and angular velocity) is calculated by using the backstepping sliding mode control algorithm based on the self-adaptive inertia weight firefly algorithm, and the control quantity can be fed back to the velocity controller to control the movement of the robot. The real trajectory is obtained using the OptiTrack motion capture system. By tracking the trajectory of the straight line, the results of physical control show that the trajectory tracking error of the backstepping sliding mode visual trajectory tracking controller based on the self-adaptive inertia weight firefly algorithm is small and has good stability and real-time performance.