Design of Servo Control System for Mobile Robot Based on UAV Global Vision
Peng Ji, Yonglin Dou, Yanxu Pang, Z.P. Wang, Fengying Ma · 2024
When ground reconnaissance mobile robots perform tasks alone, they can only obtain ground view perception, which leads to the inability to globally optimize, resulting in local rather than global optimal solutions. Inspired by this, a servo control system for mobile robots based on UAV global vision is designed in this paper. Firstly, acquire global visual images and process them, selecting target points via mouse under global vision. Secondly, plan an obstacle avoidance path to reach the target point using artificial potential field method, and smooth the path using B-spline curves. Then, establish the kinematic model of the mobile robot and use the LQR algorithm to enable the robot to track the path. Finally, experimental tests were conducted via the Webots simulation platform to verify the feasibility of the system. Experimental results show that the system can ensure high accuracy and smooth path tracking, and has strong cooperative control, effectively addressing the single visual problem of ground mobile robots.