Simultaneous tracking and regulation visual servoing of wheeled mobile robots with uncalibrated extrinsic parameters

This paper presentsa global adaptive controller that simultaneously solves tracking and regulation for wheeled mobile robotswith unknowndepth and uncalibrated camera-to-robot extrinsic parameters. The rotational angle and the scaled translation between the current camera frame and the reference camera frame, aswell as the ones between the desired camera frame and the reference camera frame can be calculated in real time by using the pose estimation techniques. A transformed system is first obtained, for which an adaptive controller is then designed to accomplish both tracking and regulation tasks, and the controller synthesis is based on Lyapunov's directmethod. Finally, the effectiveness of the proposed method is illustrated by a simulation study.