Authors:
N. García
1
;
O. Reinoso
1
;
J. M. Azorín
1
;
E. Malis
2
and
R. Aracil
3
Affiliations:
1
Universidad Miguel Hernández, Spain
;
2
Institut National de Recherche en Informatique et Automatique, France
;
3
Universidad Politcnica de Madrid, ETSII, Spain
Keyword(s):
Visual servoing, mobile robots, navigation, control.
Related
Ontology
Subjects/Areas/Topics:
Image Processing
;
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
A new method to control the navigation of a mobile robot which is based on visual servoing techniques is presented. The new contribution of this paper could be divided in two aspects: the first one is the solution of the problem which takes place in the control law when features appear or disappear from the image plane during the navigation; and the second one is the way of providing to the control system the reference path that must be followed by the mobile robot. The visual servoing techniques used to carry out the navigation are the image-based and the intrinsic-free approaches. Both are independent of calibration errors which is very useful since it is so difficult to get a good calibration in this kind of systems. Also, the second technique allows us to control the camera in spite of the variation of its intrinsic parameters. So, it is possible to modify the zoom of the camera, for instance to get more details, and drive the camera to its reference position at the same time. An
exhaustive number of experiments using virtual reality worlds to simulate a typical indoor environment have been carried out.
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