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Controlling the Execution of a Visual Servoing Task

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Abstract

This paper presents the application of the Visual Servoing approach to a mobile robot which must execute coordinate motions in a known indoor environment. In this work, we are interested in the execution and control of basic motions like Go to an object by using the mobile robot Hil are2Bis. We use a diagonal matrix for the gain λ to improve the visual servoing behaviour and the potential field formalism to avoid obstacles. Namely, the robot is controlled according to the position of some features in an image. Such a path will be executed by a nonholonomic mobile robot, which has only two degrees of freedom (two wheels), and three configuration parameters (X Y θ); a camera is mounted on the robot close to the end effector of an arm, controlled to add at least a new degree of freedom (θpl).

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Authors and Affiliations

  1. Laboratoire d'Analyse et d'Architecture des Systèmes (LAAS-CNRS), 7, Avenue du Colonel Roche, 31077, Toulouse Cedex 4, France

    R. Swain Oropeza, M. Devy & V. Cadenat

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  1. R. Swain Oropeza
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  2. M. Devy
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  3. V. Cadenat
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Swain Oropeza, R., Devy, M. & Cadenat, V. Controlling the Execution of a Visual Servoing Task. Journal of Intelligent and Robotic Systems 25, 357–369 (1999). https://doi.org/10.1023/A:1008179028940

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  • DOI: https://doi.org/10.1023/A:1008179028940

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