MOBILE ROBOT REGULATION WITH IMAGE BASED VISUAL SERVOING

被引：0
|
作者：
Tan, Aaron Hao [1 ]
Al-Shanoon, Abdulrahman [1 ]
Lang, Haoxiang [1 ]
Ei-Gindy, Moustafa [1 ]
机构：
[1] UOIT, Fac Engn & Appl Sci, Oshawa, ON, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5A | 2018年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The development of image processing algorithms grew exponentially over the past few decades with improvements in vision sensors and computational power. In this paper, a visual servo controller is designed and developed using the image-based method for a differential drive robot. The objective is to reach a desired pose relative to a target object placed in the world frame with four feature points. A full system model that includes the mobile base and camera is presented along with the design of a proportional controller. The system is implemented in the Husky A200 Robot by Clearpath Robotics. MATLAB Simulation and experimental results are analyzed and discussed with conclusion and future works recommendation in the end.
引用
收藏
页数：8
相关论文
共 50 条
  • [41] Visual servoing of a wheeled mobile robot for intercepting a moving object
    Capparella, F
    Freda, L
    Malagnino, M
    Oriolo, G
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 2021 - 2027
  • [42] Localization of electrical outlet for a mobile robot using visual servoing
    Bustamante, Luis
    Gu, Jason
    2007 CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING, VOLS 1-3, 2007, : 1211 - 1214
  • [43] Visual servoing based regulation of nonholonomic mobile robots with uncalibrated monocular camera
    Wang, Chaoli
    Niu, Wenbin
    Li, Qingsong
    Jia, Jinwei
    2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7, 2007, : 2706 - +
  • [44] Optimal Nonlinear Predictive Visual Servoing of a Wheeled Mobile Robot
    Shiao, Ying-Shing
    Yang, Jui-Liang
    Su, Ding-Tsair
    PROCEEDINGS OF THE 8TH WSEAS INTERNATIONAL CONFERENCE ON SYSTEMS THEORY AND SCIENTIFIC COMPUTATION (ISTAC'08): NEW ASPECTS OF SYSTEMS THEORY AND SCIENTIFIC COMPUTATION, 2008, : 198 - +
  • [45] An auto-epipolar strategy for mobile robot visual servoing
    Piazzi, J
    Prattichizzo, D
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 1802 - 1807
  • [46] Visual Servoing of Mobile Robot with Setting Desired Pose Arbitrarily
    Song, Zhiwei
    Li, Baoquan
    Shi, Wuxi
    2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 1089 - 1093
  • [47] Visual Servoing Feedback based Robust Regulation of Nonholonomic Wheeled Mobile Robots
    Wang, Chaoli
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
  • [48] Dynamic Feedback Robust Regulation of Nonholonomic Mobile Robots Based on Visual Servoing
    Wang, Chaoli
    Liang, Zhenying
    Liu, Yunhui
    PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 4384 - 4389
  • [49] Visual servoing based mobile robot navigation able to deal with complete target loss
    Fu, Wenhao
    Hadj-Abdelkader, Hicham
    Colle, Etienne
    2013 18TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2013, : 502 - 507
  • [50] Visual servoing based on image motion
    Crétual, A
    Chaumette, F
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2001, 20 (11): : 857 - 877
12345