Abstract
We discuss a vision based control approach applied to a mobile robot with a hand-eye system. Car-like mobile robots require switchback motion to change the posture. However, a camera mounted on the robot may lose sight of the target object because of this motion. In this paper, we propose a control method for nonholonomic wheeled mobile robots without changing the camera view point in a hand-eye system. First, the camera is fixed at an initial position for a target object by visual servoing. Then, the cart switchbacks within reach of the hand-eye system. As a result, the cart posture can be controlled without influencing the camera view point. Using the proposed method, visual servoing techniques can be directly applied to position control of mobile robots by changing the cart posture not to be influenced by nonholonomic constraints. Moreover, it is possible to control the cart position from any initial postures. The validity of the proposed method is evaluated by simulations
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
