Virtual Target Formulation for Singularity-Free Visual Control Using the Trifocal Tensor

We present a novel approach for visual control of wheeled mobile robots, extending the existing works that use the trifocal tensor as source for measurements. In our approach, singularities typically encountered in this kind of methods are removed by formulating the control problem based on the trifocal tensor and by using a virtual target vertical translated from the real target. A single controller able to regulate the robot pose towards the desired configuration without local minima is designed. Additionally, the proposed approach is valid for perspective cameras as well as catadioptric systems obeying a central camera model. All these contributions are supported by convincing simulations.