Unified Tracking and Regulation Visual Servo Control for Wheeled Mobile Robots

W. MacKunis; N. Gans; A. Parikh; W. E. Dixon

doi:10.1002/asjc.826

Unified Tracking and Regulation Visual Servo Control for Wheeled Mobile Robots

W. MacKunis, N. Gans, A. Parikh, W. E. Dixon

Physical Sciences

Research output: Contribution to journal › Article › peer-review

Abstract

The problem of unified tracking and regulation visual servo control is addressed in this paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system. The desired trajectory or desired fixed position and orientation are defined using a prerecorded image sequence (i.e., a video) or a single image (i.e., a snapshot) of four feature points. Euclidean homographies are developed by exploiting the projective geometric relationships that exist between the feature points in the live image and the prerecorded sequence of images and the corresponding feature points in a fixed reference image. The information obtained from the Euclidean homographies is then utilized to recast the WMR kinematics in a standard WMR form. A rigorous Lyapunov-based analysis is provided to show that the proposed visual servo control approach achieves simultaneous tracking and regulation control for the on-board camera-in-hand problem.

Original language	American English
Journal	Asian Journal of Control
Volume	16
DOIs	https://doi.org/10.1002/asjc.826
State	Published - May 2014

Keywords

nonlinear control
adaptive control
visual servo control
mobile wheeled robot

Disciplines

Aerospace Engineering
Mechanical Engineering

Access to Document

10.1002/asjc.826License: Unspecified

Cite this

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abstract = " The problem of unified tracking and regulation visual servo control is addressed in this paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system. The desired trajectory or desired fixed position and orientation are defined using a prerecorded image sequence (i.e., a video) or a single image (i.e., a snapshot) of four feature points. Euclidean homographies are developed by exploiting the projective geometric relationships that exist between the feature points in the live image and the prerecorded sequence of images and the corresponding feature points in a fixed reference image. The information obtained from the Euclidean homographies is then utilized to recast the WMR kinematics in a standard WMR form. A rigorous Lyapunov-based analysis is provided to show that the proposed visual servo control approach achieves simultaneous tracking and regulation control for the on-board camera-in-hand problem.",

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AU - MacKunis, W.

AU - Gans, N.

AU - Parikh, A.

AU - Dixon, W. E.

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PY - 2014/5

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N2 - The problem of unified tracking and regulation visual servo control is addressed in this paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system. The desired trajectory or desired fixed position and orientation are defined using a prerecorded image sequence (i.e., a video) or a single image (i.e., a snapshot) of four feature points. Euclidean homographies are developed by exploiting the projective geometric relationships that exist between the feature points in the live image and the prerecorded sequence of images and the corresponding feature points in a fixed reference image. The information obtained from the Euclidean homographies is then utilized to recast the WMR kinematics in a standard WMR form. A rigorous Lyapunov-based analysis is provided to show that the proposed visual servo control approach achieves simultaneous tracking and regulation control for the on-board camera-in-hand problem.

AB - The problem of unified tracking and regulation visual servo control is addressed in this paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system. The desired trajectory or desired fixed position and orientation are defined using a prerecorded image sequence (i.e., a video) or a single image (i.e., a snapshot) of four feature points. Euclidean homographies are developed by exploiting the projective geometric relationships that exist between the feature points in the live image and the prerecorded sequence of images and the corresponding feature points in a fixed reference image. The information obtained from the Euclidean homographies is then utilized to recast the WMR kinematics in a standard WMR form. A rigorous Lyapunov-based analysis is provided to show that the proposed visual servo control approach achieves simultaneous tracking and regulation control for the on-board camera-in-hand problem.

KW - nonlinear control

KW - adaptive control

KW - visual servo control

KW - mobile wheeled robot

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SN - 1934-6093

VL - 16

JO - Asian Journal of Control

JF - Asian Journal of Control

ER -

Unified Tracking and Regulation Visual Servo Control for Wheeled Mobile Robots

Abstract

Keywords

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