Keeping multiple moving objects in field of view of a mobile robot

This paper presents a visual servo controller designed to keep multiple moving objects in the field of view of a wheeled mobile robot. A set of task-functions are presented based on the distribution of targets in the image. The task functions are regulated through the mobile robot´s velocity inputs to deter targets from leaving the field of view. Experimental results of the method in this paper show that the objectives are achievable. This provides motivation for the implementation of a robust, nonlinear control algorithm.