Unified Tracking and Regulation Visual Servo Control for Wheeled Mobile Robots

A visual servo controller is developed for a monocular camera system mounted on a wheeled mobile robot (WMR), which simultaneously solves the tracking and regulation control problems. A prerecorded image sequence (e.g., a video) or single image of four target points is used to define a desired trajectory or desired fixed position and orientation for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homographies is then used to derive a standard WMR form. The proposed result is the first visual servo control result that solves the unified tracking and regulation problem.