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

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.