VISUAL SERVOING TECHNIQUES FOR CONTINUOUS NAVIGATION OF A MOBILE ROBOT

N. García, O. Reinoso, J. M. Azorín, E. Malis, R. Aracil

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.

References

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Paper Citation


in Harvard Style

García N., Reinoso O., M. Azorín J., Malis E. and Aracil R. (2004). VISUAL SERVOING TECHNIQUES FOR CONTINUOUS NAVIGATION OF A MOBILE ROBOT . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 343-348. DOI: 10.5220/0001134903430348


in Bibtex Style

@conference{icinco04,
author={N. García and O. Reinoso and J. M. Azorín and E. Malis and R. Aracil},
title={VISUAL SERVOING TECHNIQUES FOR CONTINUOUS NAVIGATION OF A MOBILE ROBOT},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={343-348},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134903430348},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISUAL SERVOING TECHNIQUES FOR CONTINUOUS NAVIGATION OF A MOBILE ROBOT
SN - 972-8865-12-0
AU - García N.
AU - Reinoso O.
AU - M. Azorín J.
AU - Malis E.
AU - Aracil R.
PY - 2004
SP - 343
EP - 348
DO - 10.5220/0001134903430348