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An active visual servoing strategy for nonholonomic mobile robots

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3 Author(s)
Xi Liu ; Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China ; Yongchun Fang ; Xuebo Zhang

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.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009

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