DocumentCode :
2092467
Title :
Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera
Author :
Mariottini, Gian Luca ; Prattichizzo, Domenico ; Oriolo, Giuseppe
Author_Institution :
Dipt. di Ingegneria dell´´Informazione, Siena Univ.
fYear :
2006
fDate :
15-19 May 2006
Firstpage :
538
Lastpage :
544
Abstract :
We present an image-based visual servoing strategy for nonholonomic mobile robot equipped with a central catadioptric camera. This kind of vision sensor combines lens and mirrors to enlarge the field of view. The proposed approach, which exploits the epipolar geometry defined by the current and the desired camera views, does not need any knowledge of the 3-D scene geometry. The control scheme is divided in two steps. In the first one, the epipoles are used together with an approximate input-output linearizing feedback to align the robot with the goal. Feature points are then used in the second translation step to reach the desired configuration. Global asymptotic convergence is proven. Simulation and experimental results show the effectiveness of the proposed control scheme
Keywords :
convergence; feedback; image motion analysis; image sensors; linearisation techniques; mobile robots; path planning; position control; central catadioptric camera; global asymptotic convergence; image-based visual servoing; input-output linearizing feedback; nonholonomic mobile robots; vision sensor; Cameras; Computational geometry; Feedback; Layout; Lenses; Linear approximation; Mirrors; Mobile robots; Robot vision systems; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
ISSN :
1050-4729
Print_ISBN :
0-7803-9505-0
Type :
conf
DOI :
10.1109/ROBOT.2006.1641766
Filename :
1641766
Link To Document :
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