Vision‐based motion control for robotic systems

Hiratsuka

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

2010

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This paper addresses a visual target following problem for a nonholonomic wheeled mobile robot with a single camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We present on-line trajectory planning based on feature-based visual servoing. The key idea is to compensate the target object motion. In particular we focus on visual feature motion without 3D reconstruction in consideration of the odometry error. Tracking control to the generated trajectory can therefore achieve visual target following precisely even if the target object is moving. The effectiveness of the control system is evaluated experimentally.

Section: Introductionmentioning

confidence: 99%

Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Hiratsuka

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

2010

Self Cite

“…Introducing visual information extracted from an image into a robot control loop has the potential to increase the flexi bility and accuracy of a given task. In particular, feedback control with visual information, so-called visual servoing or visual feedback control, is a considerable technique for robotic systems [1]- [4].…”

Section: Introductionmentioning

confidence: 99%

Vision-based switching control strategy for a nonholonomic wheeled mobile robot with a pan camera

Ebata

9th International Workshop on Robot Motion and Control

2013

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This paper presents a vision-based switching con trol strategy for a nonholonomic wheeled mobile robot with a pan camera (NHWMR+PC). The control inputs of the NHWMR+PC consist of a pan rotational velocity of the camera and linear and angular velocities of the platform. When we adopt all three inputs for image-based visual servoing (IBVS), the standard IBVS controller does not work at all due to the singularity of the interaction matrix which depends on the configuration of the camera. For avoiding the singularity, we propose a switching control strategy which consists of two control modes: one is for IBVS using only two control inputs, and the other for regulating the platform orientation and the pan camera angle. The effectiveness of this strategy was validated through a simulation.

“…Visual servoing is known as one of robot control techniques based on vision information [1], [2]. This technique classifies into three types: position-based visual servoing (PBVS), image-based visual servoing (IBVS), and hybrid visual servoing (HVS).…”

Section: Introductionmentioning

confidence: 99%

An estimation recovery method of depth observers by periodic image-based visual servoing

Urai

2015 IEEE International Conference on Industrial Technology (ICIT)

2015

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This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE condition is not always satisfied during a visual servoing task. The estimation of the depth observer stops if the PE condition fails. In our previous work [13], such a case has been illustrated via simulations, and also an estimation recovery method based on periodic IBVS has been proposed. In this paper, we evaluate the effectiveness of our proposed method experimentally. On the basis of experimental results, we discuss how the amplitude and the period of the periodic behavior contribute to recovering estimation.