Motion control using visual servoing and potential fields for a rover-mounted manipulator

Author

Oropeza, Ricardo Swain ; Devy, Michel

Author_Institution

Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France

Volume

3

fYear

1999

fDate

1999

Firstpage

2249

Abstract

Presents the motion control for our mobile robot Hilare2Bis using both visual servoing and potential fields in a, cluttered indoor environment. This function is required in order to execute navigation tasks in a robust way. The camera is mounted on the robot close to the end effector of an arm with 6 DOF, used as a virtual pan and tilt platform: only two DOFs are controlled (θ_pan, θ _tilt) by the visual servoing process. The mobile platform is controlled according to the position of some features in an image, and to the distance to the obstacles detected by a 2D laser range finder

Keywords

CCD image sensors; image motion analysis; laser ranging; manipulators; mobile robots; motion control; path planning; robot kinematics; robot vision; 2D laser range finder; Hilare2Bis; camera; cluttered indoor environment; end effector; navigation tasks; potential fields; rover-mounted manipulator; virtual pan and tilt platform; visual servoing; Cameras; End effectors; Indoor environments; Mobile robots; Motion control; Navigation; Optical control; Robot vision systems; Robustness; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770440

Filename

770440