Selection-strategy-based visual servo regulation of wheeled mobile robots

For a monocular camera-based nonholonomic mobile robot system, we propose a selection-strategy-based visual servo regulation strategy. Firstly, based on the pose estimation by vision information, relative position and pointing angle errors are utilized for designing the visual servo regulation controller by use of the Lyapunov techniques. Secondly, for resolving the problem that this controller will generate large rotation angles when the robot at some initial positions, the negative regulation controller is obtained by changing the errors´ form, then the selection strategy is designed for the above two controllers. At the same time, the active vision is combined to keeping the target in the camera´s field of view. Simulation results demonstrate that the visual servo regulation controller can accomplish the regulation tasks efficiently by using the same controller parameters from different initial poses, and the selection strategy keeps the pan-unit´s rotation angle in a reasonable range.