Cart (Loading....) | Create Account
Close category search window
 

An active visual servoing strategy for nonholonomic mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.