Epipole-based visual servoing for nonholonomic mobile robots

Author

Mariottini, Gian Luca ; Prattichizzo, Domenico ; Oriolo, Giuseppe

Author_Institution

Dipt. di Ingegneria dell Informazione, Siena Univ., Italy

Volume

1

fYear

2004

fDate

26 April-1 May 2004

Firstpage

497

Abstract

A new image-based visual servoing algorithm is presented for nonholonomic mobile robots. The algorithm, based on epipolar geometry, consists of three independent and sequential steps making use of both the estimated epipoles and the image features. In particular, due to the nonlinear dynamics of the camera-robot system, an input-output feedback linearizing control law is used during the second step. Simulations results are presented to validate the proposed visual servoing technique.

Keywords

feedback; image motion analysis; linearisation techniques; mobile robots; nonlinear control systems; nonlinear dynamical systems; robot vision; camera-robot system; epipolar geometry; epipole-based visual servoing; input-output feedback linearizing control; nonholonomic mobile robots; nonlinear dynamics; Adaptive control; Cameras; Computational geometry; Kinematics; Linear feedback control systems; Mobile robots; Robot sensing systems; Robot vision systems; Surface texture; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307198

Filename

1307198