Visual servoing for a non-holonomic mobile robot using a range-image-camera

Author

Lietmann, Thorsten ; Bornstedt, Burghard ; Lohmann, Boris

Author_Institution

Inst. of Autom. (IAT), Univ. of Bremen, Bremen, Germany

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

1134

Lastpage

1139

Abstract

This paper presents an extended visual servoing approach based on the image-jacobian-matrix which is used to navigate a mobile platform. Using a range-image-camera makes it possible to measure the distance between camera and visual features. So, the image-jacobian-matrix can be extended by one row corresponding to the feature distance. Due to the non-holonomic constraints of our mobile platform the visual controller has to be supported by an additional trajectory tracking control. The additional trajectory tracking ensures that the mobile platform is guided to its desired goal-pose calculated by visual servoing. This new extended visual servoing method is tested with the real system and the results are shown in this paper.

Keywords

Jacobian matrices; mobile robots; robot vision; trajectory control; visual servoing; extended visual servoing approach; feature distance; goal-pose; image-Jacobian-matrix; nonholonomic mobile robot; range-image-camera; real system; trajectory tracking control; visual controller; visual features; Decision support systems; Europe; Autonomous Navigation; Image-Jacobian-Matrix; Mobile Robots; RangeImage-Camera; Visual Servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076068