Title :
Epipole-based visual servoing for nonholonomic mobile robots
Author :
Mariottini, Gian Luca ; Prattichizzo, Domenico ; Oriolo, Giuseppe
Author_Institution :
Dipt. di Ingegneria dell Informazione, Siena Univ., Italy
fDate :
26 April-1 May 2004
Abstract :
A new image-based visual servoing algorithm is presented for nonholonomic mobile robots. The algorithm, based on epipolar geometry, consists of three independent and sequential steps making use of both the estimated epipoles and the image features. In particular, due to the nonlinear dynamics of the camera-robot system, an input-output feedback linearizing control law is used during the second step. Simulations results are presented to validate the proposed visual servoing technique.
Keywords :
feedback; image motion analysis; linearisation techniques; mobile robots; nonlinear control systems; nonlinear dynamical systems; robot vision; camera-robot system; epipolar geometry; epipole-based visual servoing; input-output feedback linearizing control; nonholonomic mobile robots; nonlinear dynamics; Adaptive control; Cameras; Computational geometry; Kinematics; Linear feedback control systems; Mobile robots; Robot sensing systems; Robot vision systems; Surface texture; Visual servoing;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307198
