Application of Visual Servo Control in Autonomous Mobile Rescue Robots
Abstract
Mobile robots that integrate visual servo control for facilitating autonomous grasping nd manipulation are the focus of this paper. In view of mobility, they have wider pplication than traditional fixed-based robots with visual servoing. Visual servoing s widely used in mobile robot navigation. However, there are not so many report or applying it to mobile manipulation. In this paper, challenges and limitations of pplying visual servoing in mobile manipulation are discussed. Next, two classical pproaches (image-based visual servoing (IBVS) and position-based visual servoing (PBVS)) are introduced aloing with their advantages and disadvantages. Simulations n Matlab are carried out using the two methods, there advantages and drawbacks are llustrated and discussed. On this basis, a suggested system in mobile manipulation s proposed including an IBVS with an eye-in-hand camera configuration system. imulations and experimentations are carried with this robot configuration in a earch and rescue scenario, which show good performance.References
Chaumette, F. ; Hutchinson, S. (2006); Visual servo control part 1: basic approaches, IEEE Robotics and Automation Magazine, 13(4): 82-90. http://dx.doi.org/10.1109/MRA.2006.250573
Agin, G. J. (1979); Real time control of a robot with a mobile camera, SRI International, Menlo Park, Technical Note 179.
Sanderson, A. C.; Weiss, L. E. (1980), Image-based visual servo control using relational graph error signals, in Proc. IEEE,:1074-1077.
Hutchinson, S.; Hager, G.D.; Corke, P. I. (1996), A tutorial on visual servo control, IEEE Transaction On Robotics and Automation, 12(5): 651-670. http://dx.doi.org/10.1109/70.538972
Ma, Y.; Kosecka, J.; Sastry, S. S. (1999), Vision guided navigation for a nonholonomic mobile robot, IEEE Transactions on Robotics and Automation, 15(3): 521-536. http://dx.doi.org/10.1109/70.768184
Fang, Y.; Dixon, W. E.; Dawson, D. M.; Chawda, P. (2005), Homography-based visual servo regulation of mobile robots, IEEE Transactions on Systems, Man and Cybernetics - Part B, 35(5): 1041-1050. http://dx.doi.org/10.1109/TSMCB.2005.850155
Wang, Y.; Lang, H.; de Silva, C. W. (2010), A hybrid visual servoing controller for robust manipulation using mobile robots, IEEE/ASME Transactions on Mechatronics, 15(5): 757- 769. http://dx.doi.org/10.1109/TMECH.2009.2034740
Gangloff, J.; de Mathelin, M. (2002), Visual servoing of a 6-DOF manipulator for unknown 3-D profile following, IEEE Transactions on Robotics and Automation, 18(4): 511-519. http://dx.doi.org/10.1109/TRA.2002.802201
Spong, M. W. ; Hutchinson S. ; Vidyasagar M. (2005); Robot Modeling and Control, Wiley.
Malis, E.; Chaumette, F.; Boudet, S. (1999), 1-1/2-D Visual Servoing, IEEE Transactions on Robotics and Automation, 15(2): 238-250. http://dx.doi.org/10.1109/70.760345
Wilson, W. J.; Hulls, C. C. W.; Bell, G. S. (1996), Relative end-effector control using Cartesian position-based visual servoing, IEEE Transactions on Robotics and Automation, 12(5): 684-696. http://dx.doi.org/10.1109/70.538974
Published
Issue
Section
License
ONLINE OPEN ACCES: Acces to full text of each article and each issue are allowed for free in respect of Attribution-NonCommercial 4.0 International (CC BY-NC 4.0.
You are free to:
-Share: copy and redistribute the material in any medium or format;
-Adapt: remix, transform, and build upon the material.
The licensor cannot revoke these freedoms as long as you follow the license terms.
DISCLAIMER: The author(s) of each article appearing in International Journal of Computers Communications & Control is/are solely responsible for the content thereof; the publication of an article shall not constitute or be deemed to constitute any representation by the Editors or Agora University Press that the data presented therein are original, correct or sufficient to support the conclusions reached or that the experiment design or methodology is adequate.
