Abstract
Mobile robots combined with visual feedback have been an indispensable role of the society, including in industry and in service, which have attracted extensive researchers over the past years. In this paper, we provide an overview of the visual servoing for nonholonomic mobile robots and introduce two feasible system modeling methods in perspective of active disturbance rejection control (ADRC). Firstly, the visual servoing systems of mobile robots are classified into independent type and coupling type based on the robot and camera configuration. Then three mainstream strategies are discussed according to the different requirements for camera calibration, and the efficiency of which are presented from existing works. In order to cope with the uncalibrated visual servoing of nonholonomic mobile robots, we give two feasible attempts to convert the robot system model into the canonical integrator chain of the ADRC by using the input-state scaling technique and flat output. Finally, future work is outlined accompanied with the challenges.
Highlights
Thereafter, we provide a framework of the visual servoing for nonholonomic mobile robots which is the frame diagram of this paper
Since various uncertainties exist in the visual servoing system of the mobile robot, we focus on a finite-dimensional nonholonomic system in perturbed chained form as following x0 = d0(t)u0 + φ0 (t, x0, )
This paper reviews the studies on the visual servoing of nonholonomic mobile robots, focusing on two types of robot and camera configurations namely independent and coupling type, three well-represented control strategies
Summary
The calibration-free robotic visual servoing is proposed, which is to control the robot to accomplish a specific task, using visual features extracted from the images. Su: Visual Servoing of Nonholonomic Mobile Robots: A Review and a Novel Perspective. For visual servoing of nonholonomic mobile robots, several issues should be overcome: the nonholonomic constraints, unknown depth information, unknown or partially known camera model and camera-to-robot model and disturbance from the environment. The foundation of ADRC offers a novel perspective to tackle the problems in the visual servoing of nonholonomic mobile robots, which is to separately handle the nonholonomic constraints and the uncertainties in different control loops. Thereafter, we provide a framework of the visual servoing for nonholonomic mobile robots (as shown in Feature 1) which is the frame diagram of this paper
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