VISUAL SERVO CONTROL OF A MOBILE ROBOT USING OMNIDIRECTIONAL VISION

摘要

To achieve a fully autonomous robot several individual sensory based tasks can be composed to accomplish a complete autonomous mission. These sensory based tasks can be distance detection with ultrasonic sensors to avoiding collision or stereo vision acquisition and processing for environment mapping. In this context, the sensory based task that is subject of this paper is a moving target following in real time based with an omnidirectional vision system supplying data for a visual servo controlled mobile robot. This paper shows some background information on omnidirectional vision system, object tracking and visual servo control. Then the implemented solution for performing this specific task is presented and the experimental results are shown and discussed. 1