Homography-based visual servo tracking control of a wheeled mobile robot

A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled robot (WMR) subject nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system.

[1]  François Chaumette,et al.  2½D visual servoing , 1999, IEEE Trans. Robotics Autom..

[2]  François Chaumette,et al.  2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement , 2000, International Journal of Computer Vision.

[3]  Steven B. Skaar,et al.  EXTENDING TEACH–REPEAT TO NONHOLONOMIC ROBOTS , 1998 .

[4]  A. Hanson,et al.  Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras , 1995, Proceedings of International Symposium on Computer Vision - ISCV.

[5]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[6]  Warren E. Dixon,et al.  Nonlinear Control of Wheeled Mobile Robots , 2001 .

[7]  G.D. Hager,et al.  Toward domain-independent navigation: dynamic vision and control , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[8]  Vijay Kumar,et al.  Real-time vision-based control of a nonholonomic mobile robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Jian Chen,et al.  2.5D visual servoing with a fixed camera , 2003, Proceedings of the 2003 American Control Conference, 2003..

[10]  François Chaumette,et al.  2d 1/2 visual servoing with respect to a planar object , 1997 .

[11]  Olivier Faugeras,et al.  Three-Dimensional Computer Vision , 1993 .

[12]  Henk Nijmeijer,et al.  Adaptive tracking control of a wheeled mobile robot , 1998 .

[13]  Patrick Rives,et al.  Extending visual servoing techniques to nonholonomic mobile robots , 1997, Block Island Workshop on Vision and Control.

[14]  D.J. Kriegman,et al.  Stereo vision and navigation in buildings for mobile robots , 1989, IEEE Trans. Robotics Autom..

[15]  Martial Hebert,et al.  Vision and navigation for the Carnegie-Mellon Navlab , 1988 .

[16]  S. Shankar Sastry,et al.  Vision-based follow-the-leader , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[17]  Warren E. Dixon,et al.  Robust 2.5D visual servoing for robot manipulators , 2003, Proceedings of the 2003 American Control Conference, 2003..

[18]  Daniel E. Koditschek,et al.  Visual servoing via navigation functions , 2002, IEEE Trans. Robotics Autom..

[19]  S B Skaar,et al.  Initial results in the development of a guidance system for a powered wheelchair. , 1996, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[20]  James P. Ostrowski,et al.  Visual servoing with dynamics: control of an unmanned blimp , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[21]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[22]  Darius Burschka,et al.  Vision-based control of mobile robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[23]  Larry S. Davis,et al.  A visual navigation system for autonomous land vehicles , 1987, IEEE J. Robotics Autom..

[24]  Shree K. Nayar,et al.  A theory of catadioptric image formation , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[25]  S. Shankar Sastry,et al.  Vision guided navigation for a nonholonomic mobile robot , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[26]  Matthew Turk,et al.  VITS-A Vision System for Autonomous Land Vehicle Navigation , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[27]  Man Hyung Lee,et al.  Localization of a mobile robot using images of a moving target , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[28]  Darren M. Dawson,et al.  QMotor 3.0 and the QMotor robotic toolkit: a PC-based control platform , 2002 .

[29]  Warren E. Dixon,et al.  Adaptive 2.5D visual servoing of kinematically redundant robot manipulators , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[30]  Takeo Kanade,et al.  3-D vision for outdoor navigation by an autonomous vehicle , 1989 .

[31]  François Chaumette,et al.  Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods , 2002, IEEE Trans. Robotics Autom..

[32]  Nicholas R. Gans,et al.  An asymptotically stable switched system visual controller for eye in hand robots , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[33]  S. Hutchinson,et al.  A new hybrid image-based visual servo control scheme , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[34]  Norihiko Adachi,et al.  Image-based visual adaptive tracking control of nonholonomic mobile robots , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[35]  François Chaumette,et al.  2 1/2 D visual servoing: a possible solution to improve image-based and position-based visual servoings , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[36]  Warren E. Dixon,et al.  Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity , 2004, IEEE Transactions on Control Systems Technology.

[37]  M.S. de Queiroz,et al.  Homography-based visual servoing of wheeled mobile robots , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[38]  Warren E. Dixon,et al.  Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system , 2001, IEEE Trans. Syst. Man Cybern. Part B.

[39]  François Chaumette,et al.  Path planning for robust image-based control , 2002, IEEE Trans. Robotics Autom..

[40]  Morgan Kaufmnn Publid.  3-D VISION FOR OUTDOOR NAVIGATION BY AN AUTONOMOUS VEHICLE , 1988 .

[41]  Robert E. Mahony,et al.  Visual servoing using linear features for under-actuated rigid body dynamics , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[42]  Kai-Tai Song,et al.  Fast optical flow estimation and its application to real-time obstacle avoidance , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[43]  Olivier Faugeras,et al.  Motion and Structure from Motion in a piecewise Planar Environment , 1988, Int. J. Pattern Recognit. Artif. Intell..

[44]  Takeo Kanade,et al.  Vision and Navigation for the Carnegie-Mellon Navlab , 1987 .

[45]  Koichiro Deguchi,et al.  Optimal motion control for image-based visual servoing by decoupling translation and rotation , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).