Uncalibrated visual servoing feedback based exponential stabilization of nonholonomic mobile robots

This paper investigates visual servoing stabilization of nonholonomic moving robots with unknown camera parameters. Based on the visual servoing feedback and the common chained form of type (1,2) robot, we obtain a new kind of uncertain model of nonholonomic kinemetic system firstly. Then a time varying feedback controller is proposed for exponentially stabilizing the position and orientation of the moving robot using visual feedback when the depth of the image features and the camera parameters are not known. This controller is developed based on a new formulation of the problem in the image space. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the method proposed in this paper.