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Visual Servoing of a Wheeled Mobile Robot using Unconstrained Optimization with a Ceiling Mounted Camera

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3 Author(s)
Gon-Woo Kim ; Korea Inst. of Ind. Technol., Ansan ; Kyung-Tae Nam ; Sang-Moo Lee

We propose an image-based visual servoing algorithm of a wheeled mobile robot utilizing a ceiling mounted camera. The visual navigation of a mobile robot is defined as an unconstrained optimization problem to minimize the image difference between the goal position and the position of a mobile robot in the image plane. Full New ton's method is applied for unconstrained optimization. We also propose a method to find the Hessian term of the image error using a secant approximation method. The performance of visual servoing was evaluated using the simulation.

Published in:

Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on

Date of Conference:

26-29 Aug. 2007