Paper Info
Title
Wireless hybrid visual servoing of omnidirectional wheeled mobile robots
Abstract
In this paper, we propose a new wireless hybrid control algorithm for visual servoing of mobile robots. In particular, the hybrid system is developed using the two autonomous control algorithms, i.e., position-based visual servoing (PBVS) and image-based visual servoing (IBVS). The PBVS algorithm is used for global routing, whereas the IBVS algorithm is used for the fine navigation. It helps in the specific steering towards the desired point for approaching the searched object. The proposed algorithm requires only the desired and actual poses of the mobile robot, and does not need any additional requirements such as the map of the environment or artificial landmarks. For the linearization of output signals, neural network extended Kalman filter is used. Several experimental as well as simulation results are presented in order to show the applicability of the proposed algorithm in the hybrid vision based control of mobile robots.
Year
DOI
Venue
2016
10.1016/j.robot.2015.08.008
Robotics and Autonomous Systems
Keywords
Field
DocType
Camera field-of-view,Epipolar geometry,Omnidirectional mobile robot,Neural network extended Kalman filter,Visual SLAM
Computer vision,Extended Kalman filter,Wireless,Epipolar geometry,Computer science,Artificial intelligence,Visual servoing,Artificial neural network,Hybrid system,Linearization,Mobile robot
Journal
Volume
Issue
ISSN
75
PB
0921-8890
Citations 
PageRank 
References 
5
0.51
23
Authors
3
Name
Order
Citations
PageRank
Gossaye Mekonnen150.51
Sanjeev Kumar22727139.04
Pushparaj Mani Pathak34710.79