Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry

摘要

We present an image-based visual servoing strategy for driving a nonholonomic mobile robot equipped with a pinhole camera toward a desired configuration. The proposed approach, which exploits the epipolar geometry defined by the current and desired camera views, does not need any knowledge of the 3-D scene geometry. The control scheme is divided into two steps. In the first, using an approximate input-output linearizing feedback, the epipoles are zeroed so as to align the robot with the goal. Feature points are then used in the second translational step to reach the desired configuration. Asymptotic convergence to the desired configuration is proven, both in the calibrated and partially calibrated case. Simulation and experimental results show the effectiveness of the proposed control scheme