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.

G. L., M., G., O., & Prattichizzo, D. (2006). Image-based Visual Servoing for Nonholonomic Mobile Robots with Central Catadioptric Camera. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA 2006 (pp.538-544). IEEE [10.1109/ROBOT.2006.1641766].

Image-based Visual Servoing for Nonholonomic Mobile Robots with Central Catadioptric Camera

PRATTICHIZZO, DOMENICO
2006

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.
0780395050
G. L., M., G., O., & Prattichizzo, D. (2006). Image-based Visual Servoing for Nonholonomic Mobile Robots with Central Catadioptric Camera. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA 2006 (pp.538-544). IEEE [10.1109/ROBOT.2006.1641766].
File in questo prodotto:
Non ci sono file associati a questo prodotto.

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/11365/31777
 Attenzione

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