The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera...
Most of the recent research on autonomous mobile robotics is focused on obstacle detection and path planning in unknown environments. Improved accuracy in environment recognition and high precision in robot control can ensure feasibility of intelligent and autonomous mobile robotic systems in unexplored environments. To reach this goal, effective navigation and control approaches for the mobile robots...
This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence...
The tracking control of wheeled dynamic mobile robots via visual servoing feedback is considered. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive torque tracking controller is designed for the uncertainty dynamic model in the presence of parametric uncertainty associated with the camera system. The asymptotic convergence of tracking errors to zero is rigorously...
This paper proposed a visual servoing system for autonomous mobile robot navigation under an eye-to-hand camera configuration using omnidirectional vision. The proposed algorithm is based upon Position-Based Visual Servoing (PBVS) and uses only one fixed camera to provide the global path planning. The image is captured by the omnidirectional camera mounted on the ceiling followed by camera calibration,...
This paper presents a seemingly novel approach to accomplishing mobile robot localization and navigation in a large unknown workspace with a set of vision sensors based on an effective on-line calibration strategy. Each adjacent IP camera pair for visual sensing is assumed to have an overlapping field of view, but the positions as well as orientations with respect to either the Cartesian space or...
This paper is concerned with the visual servoing of a mobile robot in dynamic environments. We assume a target with maneuvering capabilities, and thus it can be hidden from the camera by the obstacles in the scene. These two problems must be taken into account in the control law to ensure correct servoing. The control law must consider the target movement to reduce tracking error as small as possible...
This paper presents a simple visual servoing and navigation algorithm for guiding a holonomic or omnidirectional robot. The algorithm facilitates a mobile robot equipped mainly with a webcam to autonomously navigate an unknown environment and explore the path from start configuration to goal configuration along some checkpoints while avoiding obstacles. We have adopted an off-the-shelf toy robot,...
This paper describes the initial steps in the development of an object detection system for manipulation purposes, to be embedded in a mobile robot. The goal is to design a robotic system to aid workers in a manufacturing plant. The proposed implementation involves the integration of a Field Programmable Gate Array (FPGA) based electronic module with the manipulator arm of the robotic platform. The...
This paper presents a configuration control of a forklift vehicle using a camera-based vision system with limited angle-of-view (AOV). The configuration (i.e., position and orientation) of the vehicle is transformed to navigation variables, which are the distance left to the goal position, the angle made by the x-axis of the target coordinate and the vehicle-to-target (v-to-t) vector, and the angle...
An intelligent space employing multiple vision sensors is proposed. The union of the sensing ranges of these vision sensors covers a large unknown workspace where a mobile robot can proceed to explore. The goal of this research is to accomplish mobile robot localization and navigation based on such an on-line calibrated sensor network. In particular, each adjacent IP camera pair is assumed to have...
Increase in accessibility of low cost webcams has lead the way for hobbyists and researchers to include affordable, yet information rich, visual sensors for areas such as machine vision. This work investigates the practical considerations of using a floor pointing visual sensor for visual servo applications. Several conditions and characteristics of both the webcam and the ground texture tracking...
In the recent years visual servo control has become a popular research topic in robotics. Usually, it is applied to fixed-base robotic manipulators working in a structured industrial environment. This paper focuses on developing a visual servo control system for a mobile robot, which operates in an unstructured environment. First, the system hardware and control objective are introduced. Second, the...
A method for pose estimation based on homography and its robustness against image noise is investigated in this paper. This technique was implemented on the mobile robot to verify the efficiency of visual servo. Firstly, homography matrix could be calculated by comparing the corresponding target points of an object from two different camera images. Then, by decomposing the homography matrix through...
This paper presents the analysis, design, and the implementation of a system for detecting an electrical outlet that will allow a mobile robot to independently recharge its own energy supply. The system is implemented with a robotic arm, a zoom camera, a standard web camera and a laser distance sensor. Utilizing the eye-in-hand configuration the camera is mounted on end-effectors of the robotic arm...
We consider a problem about navigation of a mobile robot with a camera in indoor environment. A new visual control method using a vanishing point of parallel lines at both sides of the corridor is introduced, and we call this the vanishing point visual control method. This method gives a lot of useful information on the design. Therefore we can't need a priori information except both widths of the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.