Visual Servo Regulation of Wheeled Mobile Robots With an Uncalibrated Onboard Camera

In this paper, a visual servo regulation strategy is designed for an uncalibrated camera system mounted on a wheeled mobile robot subject to nonholonomic motion constraint, which can drive the mobile robot to the target pose with exponential convergence. Unlike existing methods, the proposed approac...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2016-10, Vol.21 (5), p.2330-2342
Hauptverfasser:	Li, Baoquan, Fang, Yongchun, Zhang, Xuebo
Format:	Artikel
Sprache:	eng
Schlagworte:	Cameras Control Controllers Mathematical analysis Mobile robots Motion control Nonholonomic Orientation Parameters projection homography matrix Robots Servomechanisms Servomotors uncalibrated camera visual servo regulation Visual servoing Visualization wheeled mobile robot
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