Visual servoing for non-holonomic mobile robots

Masutani, Yasuhiro; Mikawa, Masahiko; Maru, Noriaki; Miyazaki, Fumio

doi:10.1109/iros.1994.407471

Cited by 24 publications

(16 citation statements)

References 6 publications

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“…6,7 One of the prominent methods in visionbased navigation is visual servoing, 8 which was originally developed for manipulators with a camera on their endeffector, 9 but has also been applied on nonholonomic mobile robots. 10 In some cases, the method relies on the geometry of the environment and on other metrical information. In this case, pose-based visual servoing is used to reduce the error, which is estimated in pose space.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing for path reaching with nonholonomic robots

Cherubini¹,

Chaumette²,

Oriolo³

2011

Robotica

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We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot

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Section: Introductionmentioning

confidence: 99%

Visual servoing for path reaching with nonholonomic robots

Cherubini¹,

Chaumette²,

Oriolo³

2011

Robotica

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“…IV. The image jacobian has been previously applied in nonholonomic navigation (see e.g., [4] and [15]). Matrix L s relates the velocity of feature vector s to the robot velocity u:…”

Section: Controlmentioning

confidence: 99%

Visual navigation with a time-independent varying reference

Cherubini

Chaumette

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect to a fixed one, in the image, as well as in the 3D state space.

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“…In [14], a visual servoing scheme was presented for nonholonomic wheeled mobile robots, where a pan-tilt camera was used to increase degrees of freedom of the camera sensor. A similar strategy was also given in [15].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Image-Based Trajectory Tracking Control of Wheeled Mobile Robots With an Uncalibrated Fixed Camera

Liang

Wang

Chen

et al. 2015

IEEE Trans. Contr. Syst. Technol.

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In this paper, the uncalibrated image-based trajectory tracking control problem of wheeled mobile robots will be studied. The motion of the wheeled mobile robot can be observed using an uncalibrated fixed camera on the ceiling. Different from traditional vision-based control strategies of wheeled mobile robots in the fixed camera configuration, the camera image plane is not required to be parallel to the motion plane of the wheeled mobile robots and the camera can be placed at a general position. To guarantee that the wheeled mobile robot can efficiently track its desired trajectory, which is specified by the desired image trajectory of a feature point at the forward axis of the wheeled mobile robot, we will propose a new adaptive image-based trajectory tracking control approach without the exact knowledge of the camera intrinsic and extrinsic parameters and the position parameter of the feature point. To eliminate the nonlinear dependence on the unknown parameters from the closed-loop system, a depth-independent image Jacobian matrix framework for the wheeled mobile robots will be developed such that unknown parameters in the closed-loop system can be linearly parameterized. In this way, adaptive laws can be designed to estimate the unknown parameters online, and the depth information of the feature point can be allowed to be time varying in this case. The Lyapunov stability analysis will also be performed to show asymptotical convergence of image position and velocity tracking errors of the wheeled mobile robot. The simulation results based on a two-wheeled mobile robot will be given in this paper to illustrate the performance of the proposed approach as well. The experimental results based on a real wheeled mobile robot will also be provided to validate the proposed approach.Index Terms-Adaptive control, depth-independent image Jacobian matrix, fixed camera, image-based trajectory tracking, wheeled mobile robot. 1063-6536

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Visual servoing for non-holonomic mobile robots

Cited by 24 publications

References 6 publications

Visual servoing for path reaching with nonholonomic robots

Visual servoing for path reaching with nonholonomic robots

Visual navigation with a time-independent varying reference

Adaptive Image-Based Trajectory Tracking Control of Wheeled Mobile Robots With an Uncalibrated Fixed Camera

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