李宝全 |
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教授, | 博导 |
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招生专业：控制科学与工程(学博、学硕)、控制工程(专硕)、人工智能(专硕) 研究方向：移动机器人, 无人机, 计算机视觉, 非线性控制 联系方式：libq@tiangong.edu.cn | |||||
教育经历 —————————————————————————————— | |||||
2010.09-2015.06 | 南开大学 | 控制理论与控制工程 | 博士，师从方勇纯教授 | ||
2013.09-2014.03 | 新加坡南洋理工大学 | 智能机器人控制 | 公派留学联合培养 | ||
2006.09-2010.06 | 南开大学 | 自动化 | 学士 | ||
工作经历—————————————————————————————— | |||||
2015.07-至今
| 天津工业大学-控制科学与工程学院/电气工程与自动化学院 | 讲师, 副教授, 教授
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科研项目———————————————————————————— 1. 国家自然科学基金面上项目, 62473282, “基于稠密场景建图和高效运动规划的无人机鲁棒伺服控制研究”, 2025.01-2028.12, 主持. 2. 国家自然科学基金面上项目, 61973234, “动态环境下基于多传感器融合建图的移动机器人智能伺服方法”, 2020.01-2023.12, 主持. 3. 国家自然科学基金青年项目, 61603271, “动态性能优化的移动机器人视觉系统同时深度辨识与轨迹跟踪”, 2017.01-2019.12, 主持. 4. 天津市自然科学基金青年项目, 16JCQNJC03800, “具有模型不确定性的移动机器人鲁棒视觉轨迹跟踪控制”, 2016.04-2019.03, 主持. 5. 天津市教委科研计划一般项目, 2017KJ084, “面向自然场景的移动机器人高效率优化视觉镇定控制”, 2018.01-2020.12, 主持. 6. 发明专利成果转化项目3项, 主持. 7. 横向项目4项, 主持. 8. 天津市自然科学基金重点项目,18JCZDJC96700, “小型无人直升机复杂环境视觉导航系统关键技术研究”, 2018.10-2021.09, 参与. 9. 天津市自然科学基金面上项目, 20JCYBJC00180, “能够保证一定性能的不确定非线性系统自适应模糊控制研究”, 2020.4-2023.3, 参与. 10. 天津市技术创新引导专项科技特派员项目, 21YDTPJC00610, “基于机载传感器的无人机移动平台自主着陆技术开发”, 2021.10-2022.09, 参与.
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学术论文 —————————————————————————————— [1] Tinghang Ji, Baoquan Li*, Hai Zhu, Wuxi Shi, and Xuebo Zhang, “PV-KRRT*: Adaptive classification sampling and curvature constrained motion planning for quadrotor UAVs,” IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2026.3661023, 2026. [2] Can Liu, Baoquan Li*, Fengzhi Dai, and Wuxi Shi, “Adaptive tracking control of stratospheric airships for internal parameters and external disturbances,” Nonlinear Dynamics, vol. 114, pp. 127, 2026. [3] Chenyang Zhao, Baoquan Li*, Changfu Zhu, Wuxi Shi, and Xuebo Zhang, “Lateral control for UGVs by ADRC with modeling compensation and expanded disturbance observation,” IEEE Transactions on Industrial Electronics, vol. 72, no. 9, pp. 9354-9366, Sep. 2025. [4] Hai Zhu, Baoquan Li*, Haolin Yin, and Xuebo Zhang, “Risk assessment based time-adjusted optimization for safe and fast flight of quadrotor UAVs,” IEEE Transactions on Vehicular Technology,vol. 74, no. 9, pp. 13658-13666, Sep. 2025. [5] Can Liu, Baoquan Li*, Fengzhi Dai, Wuxi Shi, and Xuebo Zhang, “Asymptotic trajectory tracking of stratospheric airship based on RISE controllers under external uncertainties,” IEEE Transactions on Aerospace and Electronic Systems, vol. 61, no. 5, pp. 11600-11612, Oct. 2025. [6] Yongcong Chen, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Image-based visual servoing of micro aerial vehicles with robust observation and output feedback”, IEEE Transactions on Control System Technology, vol. 33, no. 6, pp. 1995-2004, Nov. 2025. [7] 赵辰阳, 李宝全*, 朱常富, 张雪波, “基于观测偏差校正的无人地面车级联自抗扰跟踪策略”, 机器人, 47(2): 213-226, 2025. [8] Can Liu, Baoquan Li*, Fengzhi Dai, and Wuxi Shi, “Adaptive control of nonlinear systems under time-varying parameters and external disturbance for efficient trajectory tracking,” Nonlinear Dynamics, vol. 113, no. 13, pp. 16745-16756, Jul. 2025. [9] Xiaojing He, Baoquan Li*, and Wuxi Shi, “Point-line visual-inertial odometry systems under short and long line segment fusion,” Transactions of the Institute of Measurement and Control, DOI: 10.1177/01423312241285949, 2025. [10] Can Liu, Baoquan Li*, Fengzhi Dai, and Wuxi Shi, “Asymptotic tracking for uncertain dynamic systems with adaptive FCNN feedforward and self-tuning RISE feedback,” Transactions of the Institute of Measurement and Control, DOI: 10.1177/01423312251338885, 2025. [11] Xitian Gao, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Visual-inertial odometry systems with online temporal offset optimization,” International Journal of Robotics and Automation, vol. 40, no. 2, pp. 82–92, 2025. [12] Lintao Shi, Baoquan Li*, and Wuxi Shi, “Vision-based UAV adaptive tracking control for moving targets with velocity observation,” Transactions of the Institute of Measurement and Control, vol. 46, no. 12, pp. 2255–2265, 2024. [13] Hongbao Mo, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Cross-based dense depth estimation by fusing stereo vision with measured sparse depth,” Visual Computer, vol. 39, pp. 4339–4350, Sep. 2023. [14] Chenliang An, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Autonomous quadrotor UAV systems for dynamic platform landing with onboard sensors,” International Journal of Robotics and Automation, vol. 38, no. 4, pp. 296–305, 2023. [15] Lintao Shi, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Visual servoing of quadrotor UAVs for slant targets with autonomous object search,” Proceedings of the IMechE, Part I: Journal of Systems and Control Engineering, vol. 237, no. 5, pp. 791–804, May 2023. [16] Guoxin Zhu, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Fisheye-based visual aligned regulation for wheeled mobile robots,” Transactions of the Institute of Measurement and Control, vol. 45, no. 12, pp. 2396–2406, Aug. 2023. [17] Chenping Li, Baoquan Li*, Runhua Wang, and Xuebo Zhang, “A survey on visual servoing for wheeled mobile robots,” International Journal of Intelligent Robotics and Applications, vol. 5, no. 2, pp. 203–218, May 2021. [18] Yu Qiu, Baoquan Li*, Wuxi Shi, and Xuebo Zhang, “Visual servo tracking of wheeled mobile robots with unknown extrinsic parameters,” IEEE Transactions on Industrial Electronics, vol. 66, no. 11, pp. 8600–8609, Nov. 2019. [19] Chenghao Yin, Baoquan Li*, Wuxi Shi, and Ning Sun, “Monitoring-based visual servoing of wheeled mobile robots,” International Journal of Robotics and Automation, vol. 34, no. 4, pp. 320–330, Aug. 2019. [20] Yu Qiu, Baoquan Li*, Wuxi Shi, and Yimei Chen, “Concurrent-learning-based visual servo tracking and scene identification of mobile robots,” Assembly Automation, vol. 39, no.3, pp. 460–468, Aug. 2019. [21] Baoquan Li, Xuebo Zhang, Yongchun Fang, and Wuxi Shi, “Visual servoing of wheeled mobile robots without desired images,” IEEE Transactions on Cybernetics, vol. 49, no. 8, pp. 2835–2844, Aug. 2019. [22] Baoquan Li, Xuebo Zhang, Yongchun Fang, and Wuxi Shi, “Visual servo regulation of wheeled mobile robots with simultaneous depth identification,” IEEE Transactions on Industrial Electronics, vol. 65, no. 1, pp. 460–469, Jan. 2018. [23] Baoquan Li, Yongchun Fang, and Xuebo Zhang, “Visual servo regulation of wheeled mobile robots with an uncalibrated onboard camera,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2330–2342, Oct. 2016. [24] Baoquan Li, Yongchun Fang, Guoqiang Hu, and Xuebo Zhang, “Model-free unified tracking and regulation visual servoing of wheeled mobile robots,” IEEE Transactions on Control System Technology, vol. 24, no. 4, pp. 1328–1339, Jul. 2016. [25] Baoquan Li, Yongchun Fang, and Xuebo Zhang, “Essential-matrix-based visual servoing of mobile robots without short baseline degeneration,” International Journal of Robotics and Automation, vol. 30, no. 4, pp. 397–406, 2015. [26] 李宝全, 方勇纯, 张雪波, “基于2D三焦点张量的移动机器人视觉伺服镇定控制,” 自动化学报, 2014, 40(12): 2706–2715. [27] Baoquan Li, Yongchun Fang, and Xuebo Zhang, “Projection homography based uncalibrated visual servoing of wheeled mobile robots,” in Proceedings ofIEEE International Conference on Decision and Control (CDC), 2014, pp. 2167–2172. [28] Baoquan Li, Yongchun Fang, and Xuebo Zhang, “Uncalibrated visual servoing of nonholonomic mobile robots,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, pp. 584–589.
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发明专利—————————————————————————————— 1. 李宝全, 薛大斌, 李悦媛, 孙福云, 师五喜, “用于高效精准深度补全的轻量级卷积和Transformer融合方法LWFusionFormer”, 202610084786.2. 2. 李宝全, 季艇航, 朱海, 宗广灯, 师五喜, “基于自适应障碍物分类采样与轨迹曲率优化的无人机运动规划”, 202610092689.8. 3. 李宝全, 刘健松, 陈永聪, 吴杰帅, “连续形式视觉伺服的四旋翼微型飞行器控制方法”, 202511128334.1. 4. 李宝全, 李悦媛, 薛大斌, 孙福云, 付元建, “一种基于Vision Mamba的鲁棒无监督街景语义分割方法”, 202511128440.X. 5. 李宝全, 刘灿, 陈海洋, 宗广灯, 师五喜, “平流层飞艇的内部参数和外部干扰自适应轨迹跟踪控制”, 202510983830.9. 6. 李宝全, 陈永聪, 李威威, 宗广灯, 师五喜, “基于鲁棒观测和输出反馈的无人机图像视觉伺服方法”, 202510670448.2. 7. 李宝全, 刘灿, 李威威, 师五喜, “基于FCNN前馈补偿和自调优RISE控制器的机器人轨迹跟踪控制”, 202510311419.7. 8. 李宝全, 赵辰阳, 朱常富, 张雪波, “基于建模补偿和扩展扰动观测的UGV自抗扰控制”, 202411420375.3. 9. 李宝全, 赵辰阳, 朱常富, 张雪波, “一种基于级联观测偏差校正的UGV自抗扰控制方法”, 202410489927.X. 10. 李宝全, 何晓菁, 李威威, 师五喜, “长短线段整合的点线特征融合视觉惯性里程计方法”, 202311677156.9. 11. 李宝全, 朱海, 尹浩霖, 师五喜, “基于风险评估的四旋翼无人机安全快速飞行方法”, 202311287807.3. 12. 李宝全, 施林涛, 陈永聪, 师五喜, “基于自主目标搜索的四旋翼无人机视觉伺服”, 202211314810.5. 13. 李宝全, 朱国鑫, 师五喜, 陈奕梅, “基于鱼眼视觉的移动机器人对齐形式镇定方法”, 202211314987.5. 14. 李宝全, 莫洪宝, 李慧敏, “融合立体视觉和稀疏深度的基于十字臂的稠密深度估计”, 202210797193.2. 15. 李宝全, 高喜天, 何晓菁, 师五喜, “同时优化时间偏差的视觉惯性里程计系统”, 申请号 202111297656.0. 16. 李宝全, 安晨亮, 高喜天, 师五喜, “具有深度恢复能力的无人机单目SLAM可扩展框架”, ZL202010471313.0. 17. 李宝全, 高喜天, 师五喜, “同时优化外参数的视觉惯性里程计系统”, ZL202010471312.6. 18. 李宝全, 冀东, 高喜天, 师五喜, “期望位姿变动的移动机器人视觉镇定控制”, ZL201910546416.6. 19. 李宝全, 尹成浩, 高喜天, 师五喜, “模型未知动态场景下移动机器人视觉镇定”，ZL201810787727.7. 20. 李宝全，邱雨，安晨亮, “轮式移动机器人外参数无标定视觉伺服跟踪”, ZL201810787728.1. 21. 李宝全, 师五喜, 宋志伟, 郭利进, 陈奕梅, “无期望图像的移动机器人视觉镇定控制”, ZL201710885886.6. 22. 李宝全, 师五喜, 邱雨, 郭利进, 陈奕梅, “一种移动机器人同时视觉伺服与自适应深度辨识方法”, ZL201611085990.9.
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讲授课程—————————————————————————————— 本科生课程: 运动控制, 运动控制综合实践. 研究生课程: 机器人控制.
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奖励及荣誉————————————————————————————— 2020: 天津市“131” 创新型人才培养工程. 2020: 天津市高校“中青年骨干创新人才培养计划”. 2021: 天津工业大学“我最喜爱的研究生导师” 称号. 2020: IEEE-RCAR最佳学生论文提名奖, 通讯作者. 2020: 中国自动化学会中国机器人大赛优秀指导教师一等奖. 2020: 中国人工智能学会中国工程机器人大赛优秀指导教师. 2016: 南开大学优秀博士学位论文.
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社会兼职—————————————————————————————— 2023: IEEE, 高级会员. 2024: 中国自动化学会混合智能专委会, 委员. 2024: 中国自动化学会智能自动化专委会, 委员. 2019: 天津市科技特派员.
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