Applying visual servoing techniques to control a mobile hand-eye system

摘要

Discusses both theoretical and implementation issues of a vision based control approach applied to a mobile robot. After a brief presentation of the visual servoing framework used, the authors point out some key problems associated to its application in the case of nonholonomic mobile robots. To overcome these problems, the authors propose to use a hand-eye system mounted on the mobile robot in order to introduce redundancy with respect to the task. The second part of the paper presents the authors' first results obtained on their experimental testbed.