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An image driven vision-based control framework for wheeled mobile robots

Abstract : We deal in this paper with an original visual servoing method intended to control a nonholonomic wheeled mobile robot. These works are a part of a complete image-based framework for navigation of a mobile robot, using only a monocular vision system embedded on the robot. The navigation system uses a set of relay images to enable the robot to reach a goal configuration expressed as a desired attitude of visual landmarks in the image plane. This paper particularly focuses on a suitable image-based control law of a nonholonomic robot for navigating in image database, with the assumption that the ground is obstacle free. We show how computing a suitable homographic transformation between the current camera image and a desired one allows to estimate an error vector on the state of the robot relative to a virtual straight line. This line is joined and followed thanks to a control law designed according to a well suited chained system of the state of the robot. Simulations illustrate this point, and experimental results for a two wheels driven robot confirm the validity of our approach.
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Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Tuesday, February 4, 2020 - 7:07:44 PM
Last modification on : Thursday, March 3, 2022 - 8:08:03 PM
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  • HAL Id : hal-02467122, version 1



G Blanc, Y. Mezouar, Philippe Martinet. An image driven vision-based control framework for wheeled mobile robots. International Symposium on Robotics and Automation, ISRA'04, Aug 2004, Queretaro, Mexico. pp.507-512. ⟨hal-02467122⟩



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