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

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.