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This paper presents a novel two-level scheme for active visual servoing of a mobile robot equipped with a pan camera. In the lower level, the pan platform carrying an on-board camera is controlled to keep the target points lying around the center of the image plane. On the higher level, a switched controller is utilized to drive the mobile robot to reach the desired configuration through image feature feedback. The designed active visual servo systems present such advantages as follows: i. a satisfactory solution for the field of view (FOV) problem; ii. global high servo efficiency; iii. free of any complex pose estimation algorithm usually required for visual servo systems. Simulation results are provided to validate the effectiveness of the proposed active visual servo method.
Date of Conference: 15-18 Dec. 2009