A survey on visual servoing for wheeled mobile robots

Abstract

Owing to advantages of large workspace and flexible movement, wheeled mobile robots are widely applied in industry. With vision module for environment perception, visual servoing of wheeled mobile robots has been one of the hottest research topics in robotic fields. Due to different demands for various applications and specific properties of the system, many challenges are faced for designing visual servoing control strategies. In this paper, development of visual servoing for mobile robots is elaborated in visual and control modules, respectively. The vision module along with various uncertainties are analyzed, which provides feedback signals for the servo controller, thus associating the image space with the motion space for further control. Moreover, motion controllers are devised under various constraints for different objectives, such as pose regulation and trajectory tracking. Research trends are discussed to show further focus of visual servoing of mobile robots.

ViKi-HyCo: A Hybrid-Control Approach for Complex Car-Like Maneuvers

“…Where W img and H img are the width and height of the image plane. Hence, we generate the depth image dI l with the depth modulus of each R 3 coordinate of the Pc l point cloud with [u l , v l ] coordinates of the image plane as shown in (12).…”

“…Despite the low cost and easy integration of monocular cameras, systems using only these sensors present several challenges when trying to recover the metric scale of the environment, in this way the aim is to unify several sensors [11]. To improve visual servoing systems, the authors in [12] conclude that integration with multiple modules can increase the accuracy and functions of visual systems in robots. Consequently, the integration of sensor fusion and controller management can perform tasks with improved performance.…”

A Region-Based Approach to Monocular Mapless Navigation Using Deep Learning Techniques

“…Additionally, several recent research papers have conducted surveys on the current advancements in vision-based robot navigation and visual servoing. Examples include Li et al [23], Islam et al [24], Xiaomotion [25], and Machkour et al [26].…”

Performance verification and latency time evaluation of hardware image processing module for appearance inspection systems using FPGA

“…The visual inspection system consists of two main sections: image capturing and image processing [6]. In the image capturing section, the lighting environment is configured to facilitate the detection of defects like dust and scratches when capturing the inspection target [19]. Proper adjustments are necessary for different lighting environments, as unsuitable conditions can significantly affect the accuracy of defect detection [33].…”