Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor

CAO Zhengcai; YIN Longjie; FU Yili; ZHANG Jie

Article Contents

Article Navigation > Chinese Journal of Electronics > 2013 > 22(4): 729-734

CAO Zhengcai, YIN Longjie, FU Yili, et al., “Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor,” Chinese Journal of Electronics, vol. 22, no. 4, pp. 729-734, 2013,

Citation:

CAO Zhengcai, YIN Longjie, FU Yili, et al., “Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor,” Chinese Journal of Electronics, vol. 22, no. 4, pp. 729-734, 2013,

Citation:

PDF( 269 KB)

Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor

1.
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China;
2.
The State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China

Funds: This work is supported by the International Science and Technology Cooperation Program (No.2011DFG13000);the Fundamental Research Funds for the Central Universities (No.ZZ1222) and Key Laboratory of Advanced Engineering Surveying of NASMG (No.TJES1106).

More Information

Corresponding author: CAO Zhengcai, YIN Longjie
Received Date: 2012-05-01
Rev Recd Date: 2012-08-01
Publish Date: 2013-09-25

Abstract

Abstract

In this paper, a visual servo stabilization approach consisting in a dynamic switching control law for a nonholonomic mobile robot is presented, which applies the epipolar geometry and the 1D trifocal tensor to drive the robot to a desired configuration. The whole motion process is divided into three steps. Firstly, an epipolebased control law is designed to make the robot rotate in place until the camera points to the desired position. The 1D trifocal tensor is then used in the second translation step to reach the desired place. Finally, the desired configuration is reached through a pure rotation using the epipolar geometry. The stability of the proposed control system is proved based on linear system control theory and Lyapunov theory. Simulation results are given to illustrate the effectiveness of the proposed controller.
- Nonholonomic mobile robot,
- Stabilization,
- Visual servo,
- Epipolar geometry,
- Trifocal tensor

FullText(HTML)

References(15)

References

M.H. Li, B.R. Hong and R.H. Luo, “Mobile robot simultaneousl ocalization and mapping using novel rao-blackwellised particlef ilter”, Chinese Journal of Electronics, Vol.16, No.1, pp.34-39,2 007.

G.S. Yang, M. Tan and Z.G. Hou, “Doorphate image quantizationb ased on peer group filtering for a mobile robot”, ChineseJ ournal of Electronics, Vol.13, No.4, pp.660-664, 2004.

G.L. Mariottini, G. Oriolo and D. Prattichizzo, “Image-basedv isual servoing for nonholonomic mobile robots using epipolar”,I EEE Transactions on Robotics, Vol.23, No.1, pp.87-100, 2007.

H.M. Becerra, G. Lopez-Nicolas and C. Sagues, “A slidingmode-c ontrol law for mobile robots based on epipolar visuals ervoing from three views”, IEEE Transactions on Robotics,Vol.27, No.1, pp.175-183, 2011.

Y.C. Fang, W.E. Dixion, D.M. Dawson and P. Chawda,“Homography-based visual servo regulation of mobile robots”,I EEE Transactions on Systems, Man, and Cybernetics, PartB : Cybernetics, Vol.35, No.5, pp.1041-1050, 2005.

G. Lopez-Nicolas, C. Sagues and J.J. Guerrero, “Homographybasedv isual control of nonholonomic vehicles”, Proc. of IEEEI nternational Conference on Robotics and Automation, Roma,I taly, pp.1703-1708, 2007.

H.M. Becerra and C. Sagues, “A novel 1D trifocal tensor-basedc ontrol for differential-drive robots”, Proc. of IEEE International Conference on Robotics and Automation, Kobe, Japan,p p.1104-1109, 2009.

G. Lopez-Nicolas, J.J. Guerrero and C. Sagues, “Visual controlt hrough the trifocal tensor for nonholonomic robots”, Robotics and Autonomous Systems, Vol.58, No.2, pp.216-226, 2010.

X.B. Zhang, Y.C. Fang and X. Liu, “Motion-estimation-basedv isual servoing of nonholonomic mobile robots”, IEEE Transactionso n Robotics, Vol.27, No.6, pp.1167-1175, 2011.

F. Yang and C.L. Wang, “Adaptive stabilization for uncertainn onholonomic dynamic mobile robots based on visual servoingf eedback”, Acta Automatica Sinica, Vol.37, No.7, pp.857-864,2 011. (in Chinese)

Z.L. Wang and Y.H. Liu, “Visual regulation of a nonholonomicw heeled mobile robot with two points using Lyapunov functions”, Proc. of IEEE International Conference on Mechatronics and Automation, Xi'an, China, pp.1603-1608, 2010.

Z.C. Cao, Y.T. Zhao and Q.D. Wu, “Genetic fuzzy plus PIp ath tracking control of a nonholonomic mobile robot”, ChineseJ ournal of Electronics, Vol.20, No.1, pp.31-34, 2011.

J.J. Guerrero, A.C. Murillo and C. Sagues, “Localization andm atching using the planar trifocal tensor with bearing-only data”, IEEE Transactions on Robotics, Vol.24, No.2, pp.494-5 01, 2008.

G. Lopez-Nicolas, N.R. Gans, S. Bhattacharya, C. Sagues,J .J. Guerrero and S. Hutchinson, “Homography-based controls cheme for mobile robots with nonholonomic and field-of-viesc onstraints”, IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol.40, No.4, pp.1115-1127, 2010.

Z.C. Cao, Y.T. Zhao and Q.D. Wu, “Point stabilization of an onholonomic mobile robot based on backstepping and neurald ynamics”, Acta Electronica Sinica, Vol.39, No.3, pp.591-595,2 011. (in Chinese)

Relative Articles

Supplements(0)

Cited By

Proportional views