Abstract
Mobile robot visual servo is based on visual feedback information to directly control the movement of the mobile robot. This paper designs an uncalibrated visual servo control method for mobile robots based on feature point recognition to achieve high-precision position control of mobile robots. The overall scheme of the system is determined firstly, and a robust feature point pattern and recognition algorithm is proposed. Aiming at the visual servo input requirements, the feature points of the mobile robot composed of positioning points and coding points are designed. The uncalibrated visual servo algorithm is studied to realize the stabilization and trajectory tracking control of the mobile robot, and the control accuracy is verified through experiments.
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