Visual Servoing of a UGV from a UAV using Differential Flatness

In this paper the problem of controlling the motion of a nonholonomic vehicle along a desired trajectory using observations from an overhead camera is considered. The control problem is formulated in the image plane. We show that the system in the image plane is differentially flat and use this property to generate effective control strategies using only visual feedback. Simulation results illustrate the methodology and show robustness to errors in the camera calibration parameters

Application of Visual Servo Control in Autonomous Mobile Rescue Robots

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

Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently