Name
Abstract | ||
|---|---|---|
A significant amount of work has been reported in the area of visual servoing during the last decade. However, most of the contributions are applied in cases of holonomic robots. More recently, the use of visual feedback for control of nonholonomic vehicles has been reported. Some of the examples are docking and parallel parking maneuvers of cars or vision- based stabilization of a mobile manipulator to a desired pose with respect to a target of interest. Still, many of the approaches are mostly interested in the control part of visual servoing loop considering very simple vision algorithms based on artificial markers. In this paper, we present an approach for nonholonomic visual servoing based on epipolar geometry. The method facil- itates a classical teach-by-showing approach where a reference image is used to define the desired pose (position and orientation) of the robot. The major contribution of the paper is the design of the control law that considers nonholonomic constraints of the robot as well as the robust feature detection and matching process based on scale and rotation invariant image features. An extensive experimental evaluation has been performed in a realistic indoor setting and the results are summarized in the paper. In terms of mobile manipulation it is very important to take into account the motion of the base that carries a manipulator or a pan-tilt unit. Such platforms are commonly nonholonomic and most of the above approaches are unsuitable in this case. Some researches have concentrated on control problem related to mobile platforms, (7)-(10). These will be presented in more detail in the next section where we compare them to our approach. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1642058 | Orlando, FL |
Keywords | Field | DocType |
attitude control,control engineering computing,feature extraction,feedback,geometry,image motion analysis,manipulators,mobile robots,position control,robot vision,robust control,docking maneuver,epipolar geometry,holonomic robots,mobile manipulator,nonholonomic epipolar visual servoing,nonholonomic vehicles,orientation control,parallel parking maneuver,position control,robust feature detection,visual feedback | Holonomic,Control theory,Control engineering,Artificial intelligence,Computer vision,Epipolar geometry,Parallel parking,Visual servoing,Engineering,Nonholonomic system,Robot,Mobile robot,Mobile manipulator | Conference |
Volume | Issue | ISSN |
2006 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-9505-0 | 14 | 0.80 |
References | Authors | |
17 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lopez-Nicolas, G. | 1 | 14 | 0.80 |
| C. Sagues | 2 | 62 | 3.62 |
| J. J. Guerrero | 3 | 134 | 10.02 |
| Danica Kragic | 4 | 2070 | 142.17 |