Visual Servoing Trajectory Tracking of Nonholonomic Mobile Robots Without Direct Position Measurement

Localization is one of the most difficult and costly problems in mobile robotics. To avoid this problem, this paper presents a new controller for the trajectory tracking of nonholonomic mobile robots using visual feedback without direct position measurement. This controller works on the basis of a n...

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Bibliographic Details
Published in:IEEE transactions on robotics 2014-08, Vol.30 (4), p.1026-1035
Main Authors: Wang, Kai, Liu, Yunhui, Li, Luyang
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive control systems
Asymptotic methods
Control systems
Controllers
Convergence
Estimation
Mobile robots
nonholonomic mobile robots
Position measurement
Robot kinematics
Robotics
Robots
Servocontrol
Tracking (position)
Trajectories
Trajectory
trajectory tracking
Visual
visual servoing
Visualization
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Summary:Localization is one of the most difficult and costly problems in mobile robotics. To avoid this problem, this paper presents a new controller for the trajectory tracking of nonholonomic mobile robots using visual feedback without direct position measurement. This controller works on the basis of a novel adaptive algorithm for estimating the global position of the mobile robot online using natural visual features measured by a vision system and its orientation and velocity measured by odometry and Attitude and Heading Reference System (IMU&Compass) sensors. The nonholonomic motion constraint of mobile robots is fully taken into account, compared with most of the existing visual servo controllers for mobile robots. The Lyapunov theory is used to prove that the proposed adaptive visual servo controller gives rise to asymptotic tracking of a desired trajectory and convergence of the position estimation to the actual position. A graphical processing unit is adopted to implement the proposed adaptive controller in parallel to achieve real-time detection and tracking of visual features. Experiments on a mobile robot are conducted to validate the effectiveness and robust performance of the proposed controller.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2014.2317891