NDLI: Adaptive image-based visual servoing of wheeled mobile robots with fixed camera configuration

Content Provider	IEEE Xplore Digital Library
Author	Xinwu Liang Hesheng Wang Weidong Chen
Copyright Year	2014
Description	Author affiliation: Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China (Xinwu Liang; Hesheng Wang; Weidong Chen)
Abstract	In this paper, we will study the uncalibrated vision-based positioning problem of wheeled mobile robots by using a ceiling-mounted camera. A new image-based visual servoing scheme will be proposed, which can cope with the unknown intrinsic and extrinsic parameters of the camera and the uncertain distance parameter of the feature point from geometric center of the mobile robot. The presented approach is developed via extending the depth-independent interaction matrix framework for robot manipulators to mobile robots such that the nonlinear dependence on unknown parameters can be removed from the image-Jacobian matrix and then, we can linearly parameterize uncertain parameters in the closed-loop system. In this way, an estimation scheme for the online updating of uncertain parameters can be developed very efficiently. To show that image errors can be guaranteed to be asymptotically convergent, stability analysis will be carried out by using Lyapunov theory. To validate the performance of the presented approach, simulation and experimental results will also be provided.
Starting Page	6199
Ending Page	6204
File Size	1471458
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907773
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Cameras Visual servoing Estimation wheeled mobile robot Adaptive visual servoing depth-independent image Jacobian fixed-camera
Content Type	Text
Resource Type	Article

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