Robust stabilization of nonholonomic moving robots with uncalibrated visual parameters

摘要

This paper discusses visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters. To cope with the nonholonomic property of the system, we propose a time varying feedback controller for robustly stabilizing the position and orientation of the mobile robot to desired ones using visual feedback when the depth of the image features and the camera parameters are not known. This controller is developed based on a new formulation of the problem in the image space. The stability of the time varying controller is proved rigorously. We have carried out simulations whose results confirmed good performance of the proposed method.