Indoor hovering flight of a nano-scale helicopter by markerless visual servo control

Hatakeyama, Takahiro; Numata, Takuya; Iwatani, Yasushi

doi:10.1109/robio.2014.7090610

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…For robotic control, visual measurements can be integrated to provide much flexibility and agility for handling tough tasks (Pang et al, 2021; Sun et al, 2018; Yüksel, 2019; Zong et al, 2022). Visual servoing can make a robotic system reach a relatively stationary target pose with continuous visual feedback (Liu and Dong, 2020), and has acted in a wide range of applications in the robotic control field, such as object grasping by robotic arms (Kumar et al, 2018), mobile robot parking (Schafle et al, 2018), and hovering control for quadrotor helicopters (Hatakeyama et al, 2014). For classic visual servoing frameworks, position-based and image-based visual servoing methods utilize pose (Janabi-Sharifi et al, 2011) and image errors (Keshmiri et al, 2014), respectively, and both of which are taken into account in hybrid visual servoing (Gans et al, 2012).…”

Section: Introductionmentioning

confidence: 99%

Fisheye-based visual aligned regulation for wheeled mobile robots

Zhu

Shi

et al. 2023

Transactions of the Institute of Measurement and Control

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In this paper, a fisheye-based visual servo regulation method is proposed for wheeled mobile robots, which utilizes motion planning algorithms to provide trajectories for driving the robot to desired poses in an aligned pattern. To satisfy the wide field-of-view (FOV) requirement in robotic systems, the image projection model of fisheye is analyzed, and derivation and estimation of homography for fisheye vision are implemented to facilitate robotic pose calculation. Compared with traditional visual regulation schemes, motion planning and trajectory tracking techniques are combined to make mobile robots reach given poses in the frontal aligned style, which guarantees the robot to move smoothly and is extendable such as for car-like robots. Desired image trajectories are calculated reversely by the fisheye model with respect to the planned geometric path, and then a tracking controller is employed for maneuvering the mobile robot. Simulation and comparative experimental results are collected to verify effectiveness of the proposed strategy.

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