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This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both unknown robot dynamics parameters and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly...
This paper presents a novel approach for image-based visual servo of a robot manipulator with an eye-in-hand configuration when the camera parameters are not calibrated and the trajectory of the moving object is not predicted. Firstly, the expression of the image Jacobian matrix for the eye-in-hand configuration, namely extended image Jacobian matrix, is proposed, then an update law is designed to...
A position-based visual servo control strategy is proposed for leader-follower formation control of unmanned ground vehicles (UGVs). The proposed control law only requires the knowledge of a single known length on the leader. The relative pose and the relative velocity of the leader are estimated with respect to the follower in the follower reference frame. The relative pose and the relative velocity...
This paper presents a strategy for a nonholonomic mobile robot to autonomously follow a target based on vision information from an onboard pan camera unit (PCU). Homography-based techniques are used to obtain relative position and orientation information from the monocular camera images. The proposed kinematic controller, based on the Lyapunov method, achieves uniform ultimately bounded (UUB) tracking.
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