Abstract:In this paper, a 2-1/2-D unified tracking and regulation visual servoing strategy is proposed for a nonholonomic mobile robot system equipped with an onboard camera. Firstly, by comparing the feature points of the unmodeled target object from a reference image with those on the current image and the prerecorded desired sequence of images, a novel composite error vector is defined including both image signals and rotational angles. Subsequently, the chained-form error system dynamics is obtained after utilizing… Show more
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