Visual feedback control method of a wheeled mobile robot using a pan camera preferentially

摘要

This paper addresses a vision-based control problem for a wheeled mobile robot with a pan camera (WMR+PC). The control inputs of the WMR+PC consist of 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 dose not work at all due to the singularity of a Jacobian matrix which depends on the configuration of the pan camera. For avoiding the singularity, we propose a new visual feedback control method using a pan camera preferentially without switching. The effectiveness of the proposed method demonstrates experimentally, in particular, for case that a target object moves transversaly.