Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Lang, Haoxiang; Khan, Muhammad Tahir; Tan, Kiang Hwee; Silva, Clarence W. W. de

doi:10.15837/ijccc.2016.5.2680

Cited by 9 publications

(5 citation statements)

References 8 publications

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“…The relation between the previous Cartesian velocities and v T ω T T can be obtained by using Equations (11)- (16):…”

Section: Discussionmentioning

confidence: 99%

“…In [15], an image-based approach with redundancy resolution is proposed for the guidance of a mobile manipulator. An indirect position-based visual control approach is described in [16] for the guidance of a mobile manipulator. In [17], a control scheme that uses image-based visual servoing was developed along with a functional mobile manipulator platform, where a hybrid camera configuration composed of monocular and stereo vision cameras was integrated into the system.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

et al. 2019

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This paper presents a direct image-based controller to perform the guidance of a mobile manipulator using image-based control. An eye-in-hand camera is employed to perform the guidance of a mobile differential platform with a seven degrees-of-freedom robot arm. The presented approach is based on an optimal control framework and it is employed to control mobile manipulators during the tracking of image trajectories taking into account robot dynamics. The direct approach allows us to take both the manipulator and base dynamics into account. The proposed image-based controllers consider the optimization of the motor signals sent to the mobile manipulator during the tracking of image trajectories by minimizing the control force and torque. As the results show, the proposed direct visual servoing system uses the eye-in-hand camera images for concurrently controlling both the base platform and robot arm. The use of the optimal framework allows us to derive different visual controllers with different dynamical behaviors during the tracking of image trajectories.

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“…The relation between the previous Cartesian velocities and v T ω T T can be obtained by using Equations (11)- (16):…”

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

et al. 2019

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“…A general look at the methods that can be implemented for generating the control signal reveals that the visual operation can be divided into two parts based on the image data used, the first one being the position-based approach and the second one being the image-based approach (Lang et al 2016). The block diagrams are the same for the two traditional methods, with only difference in the terms of the control system and the processed data received from the video feedback, as shown in Figure 2.…”

Section: Control Lawmentioning

confidence: 99%

“…The purpose of the image-based visual serving is to reduce positional errors of the target objects in images captured by the camera when the autonomous mobile robot is in motion. The control system continuously adjusts the velocity of the mobile robot wheels based on the outputs of the control system (Lang et al 2016), so that the paths of the target objects 𝒖 𝒊 , 𝒗 𝒊 navigate to the wanted sites 𝒖 𝒅𝒊 , 𝒗 𝒅𝒊 on the camera picture. Thus, the error vector of the target objects in the image plane is written as follows:…”

Section: Mathematical Model Of Image-based Visual Servoingmentioning

confidence: 99%

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

HASAN

Kara

2022

EJOSAT

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The construction of a smart autonomous mobile robot system that can operate in an anonymous environment can be difficult. Building an autonomous mobile robot requires collecting data from sensors and cameras in order to recognize the surrounding environment, get knowledge of existing landmarks, and figure out its position and orientation. Many research studies have been carried out in recent years providing algorithms for achieving autonomous motion of mobile robot systems and object detection. The most common platform utilized for robot motion design is ROS (Robot Operating System) and for object detection YOLO (You Only Look Once) is a common choice. Additionally, the autonomous system needs motion planning in a systematic way to avoid obstacles by using LIDAR or other sensing methods generating the feedback signals required for control of motion around occupied spaces. One of the most effective and versatile feedback systems for mobile robot control can be constructed using visual feedback, which relies on a high-resolution camera that processes the image in real-time and the result is fed back to the control system for decision making. Visual feedback can be employed alone without sensors for feedback control of autonomous mobile robots, and it can be used for multiple tasks like path planning, obstacle avoidance, object detection, object recognition in addition to motion control. In this research, results of design and construction of an autonomous mobile rescue robot for finding victims through video data are presented. It is aimed to find victims via applying video as a data collection and feedback generation tool in the autonomous mobile robot control system. The visual feedback and YOLO v3 are used not only for finding victims but also for motion control. Our autonomous mobile robot is designed to move smoothly to the victim's direction and avoids obstacles by using ROS Global Planner. The robot is tested in multiple scenarios in different locations, various obstacle and victim numbers, and satisfactory results with good performances are obtained.

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“…Rescue robot can perform many tasks instead of rescue workers, such as environmental monitoring and personnel search, and it can improve the rescue efficiency and information accuracy. So the rescue robot has broad application prospect [1][2][3][4]. Because the postdisaster environment is very complex, the adaptability of complex environment is the basic function of the rescue robot.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Meng

Xue

et al. 2017

Mathematical Problems in Engineering

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A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

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Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Cited by 9 publications

References 8 publications

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

Görsel Geri Beslemeli Otonom Mobil Kurtarma Robotunun Tasarım, Üretim ve Kontrolü

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

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