We present an image-based visual servoing strategy for driving a nonholonomic mobile robot equipped with a pinhole camera toward a desired configuration. The proposed approach, which exploits the epipolar geometry defined by the current and desired camera views, does not need any knowledge of the 3-D scene geometry. The control scheme is divided into two steps. In the first, using an approximate input–output linearizing feedback, the epipoles are zeroed so as to align the robot with the goal. Feature points are then used in the second translational step to reach the desired configuration. Asymptotic convergence to the desired con- figuration is proven, both in the calibrated and partially calibrated case. Simulation and experimental results show the effectiveness of the proposed control scheme.

G. L., M., G., O., & Prattichizzo, D. (2007). Image-based visual servoing for nonholonomic mobile robots using epipolar geometry. IEEE TRANSACTIONS ON ROBOTICS, 23(1), 87-100 [10.1109/TRO.2006.886842].

Image-based visual servoing for nonholonomic mobile robots using epipolar geometry.

PRATTICHIZZO, DOMENICO
2007

Abstract

We present an image-based visual servoing strategy for driving a nonholonomic mobile robot equipped with a pinhole camera toward a desired configuration. The proposed approach, which exploits the epipolar geometry defined by the current and desired camera views, does not need any knowledge of the 3-D scene geometry. The control scheme is divided into two steps. In the first, using an approximate input–output linearizing feedback, the epipoles are zeroed so as to align the robot with the goal. Feature points are then used in the second translational step to reach the desired configuration. Asymptotic convergence to the desired con- figuration is proven, both in the calibrated and partially calibrated case. Simulation and experimental results show the effectiveness of the proposed control scheme.
File in questo prodotto:
File Dimensione Formato  
MaOrPr-IEEETRO07.pdf

non disponibili

Tipologia: Post-print
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 1.18 MB
Formato Adobe PDF
1.18 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/20671
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo