An image based visual servoing scheme for wheeled mobile robots

Abstract

In this paper a real-time image based visual servoing scheme for a nonholonomic mobile robot is presented. The proposed method takes into account the nonholonomic motion constraint of mobile robots. As a distinctive fact it does not require the estimation and decomposition of the homography or fundamental matrix. A switched image based controller is design, using point features, in order to solve the camera field-of-view (FOV) constraint. The proposed architecture was implemented using a real-time visual servoing system and multiple test were conducted. Experimental results are revealed and commented.