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A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

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3 Author(s)
H. M. Becerra ; Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, C/María de Luna 1, Spain ; G. López-Nicolás ; C. Sagüés

Driving mobile robots to precise locations is of recognized interest, and using vision sensors in this context supplies many advantages. We propose a novel control law based on sliding-mode theory in order to drive mobile robots to a target location, which is specified by a previously acquired reference image. The control scheme exploits the piecewise epipolar geometry of three views on the basis of image-based visual servoing, in such a way that no 3-D scene information is required. The contribution of the paper is a new control law that achieves convergence to the target with no auxiliary images and without changing to any approach other than epipolar-based control. Additionally, the use of sliding-mode control deals with singularities, thus allowing the robot to move directly toward the target as well as avoiding the need of a precise camera calibration. The effectiveness of our approach is tested with simulations and real-world experiments.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 1 )