Motion control using visual servoing and potential fields for a rover-mounted manipulator

摘要

Presents the motion control for our mobile robot Hilare2Bis using both visual servoing and potential fields in a, cluttered indoor environment. This function is required in order to execute navigation tasks in a robust way. The camera is mounted on the robot close to the end effector of an arm with 6 DOF, used as a virtual pan and tilt platform: only two DOFs are controlled (/spl theta//sub pan/, /spl theta//sub tilt/) by the visual servoing process. The mobile platform is controlled according to the position of some features in an image, and to the distance to the obstacles detected by a 2D laser range finder.