[Yu, Wentao] Cent South Univ Forestry & Technol, Coll Comp & Informat Engn, Changsha 410004, Hunan, Peoples R China.
通讯机构：
[Huang, Zhiwu] C
Cent S Univ, Sch Informat Sci & Engn, Changsha 410075, Hunan, Peoples R China.
语种：
英文
关键词：
Fast Servoing;RGB-D;Homography;Wheeled Mobile Robot
期刊：
2017 29th Chinese Control And Decision Conference (CCDC)
ISSN：
1948-9439
年：
2017
页码：
5430-5435
会议名称：
29th Chinese Control And Decision Conference (CCDC)
会议论文集名称：
Chinese Control and Decision Conference
会议时间：
MAY 28-30, 2017
会议地点：
Chongqing, PEOPLES R CHINA
会议主办单位：
[Tu, Yezhang;Huang, Zhiwu;Li, Heng;Jiang, Fu] Cent S Univ, Sch Informat Sci & Engn, Changsha 410075, Hunan, Peoples R China.^[Yu, Wentao] Cent South Univ Forestry & Technol, Coll Comp & Informat Engn, Changsha 410004, Hunan, Peoples R China.
会议赞助商：
NE Univ, State Key Lab Synthet Automat Proc Ind, IEEE Ind Elect Chapter, Chinese Assoc Automat, Tech Comm Control & Decis Cyber Phys Syst, Chongqing Univ, IEEE Control Syst Soc, Chinese Assoc Artificial Intelligence, Chinese Assoc Automat, Tech Comm Control Theory
National Nature Science FoundationNational Natural Science Foundation of China (NSFC) [61379111, 61672537, 61672539, 61402538, 61403424, 61602529, 61502055, 61503048]
机构署名：
本校为其他机构
院系归属：
计算机与信息工程学院
摘要：
In this paper, a servoing controller composing both homographic relation and direct depth information is designed without decoupling the depth as past contributions have done. The servoing strategy does not need homograghy matrix decomposing to get rotation and displacement, or massive depth data computing, leading to less complex in calculation and faster in operation. The wheeled mobile robot computes the vector normal of and the distance to the feature plane to obtain relative current pose with a fixed RGB-D sensor mounted in direction of the robot linear velocity. Simulation and experiment...
