A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints

This paper presents a switched visual servoing strategy for maneuvering the nonholonomic mobile robot to the desired configuration while keeping the tracked image points in the vision of the camera. Firstly, a pure backward motion and a pure rotational motion are applied to the mobile robot in succe...

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Autor principal:	Yao Huang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	visual servoing nonholonomic mobile robot field-of-view switching control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/c7e4c3dadf914890bbca8dd64cd3c30d
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id	oai:doaj.org-article:c7e4c3dadf914890bbca8dd64cd3c30d
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spelling	oai:doaj.org-article:c7e4c3dadf914890bbca8dd64cd3c30d2021-11-25T16:39:59ZA Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints10.3390/app1122108952076-3417https://doaj.org/article/c7e4c3dadf914890bbca8dd64cd3c30d2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10895https://doaj.org/toc/2076-3417This paper presents a switched visual servoing strategy for maneuvering the nonholonomic mobile robot to the desired configuration while keeping the tracked image points in the vision of the camera. Firstly, a pure backward motion and a pure rotational motion are applied to the mobile robot in succession. Thus, the principle point and the scaled focal length in <i>x</i> direction of the camera are identified through the visual feedback from a fixed onboard camera. Secondly, the identified parameters are used to build the system model in polar-coordinate representation. Then an adaptive non-smooth controller is designed to maneuver the mobile robot to the desired configuration under the nonholonomic constraint. And a switched strategy which consists of two image-based controllers is utilized for keeping the features in the field-of-view. Simulation results are presented to validate the effectiveness of the proposed approach.Yao HuangMDPI AGarticlevisual servoingnonholonomic mobile robotfield-of-viewswitching controlTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10895, p 10895 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	visual servoing nonholonomic mobile robot field-of-view switching control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	visual servoing nonholonomic mobile robot field-of-view switching control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Yao Huang A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
description	This paper presents a switched visual servoing strategy for maneuvering the nonholonomic mobile robot to the desired configuration while keeping the tracked image points in the vision of the camera. Firstly, a pure backward motion and a pure rotational motion are applied to the mobile robot in succession. Thus, the principle point and the scaled focal length in <i>x</i> direction of the camera are identified through the visual feedback from a fixed onboard camera. Secondly, the identified parameters are used to build the system model in polar-coordinate representation. Then an adaptive non-smooth controller is designed to maneuver the mobile robot to the desired configuration under the nonholonomic constraint. And a switched strategy which consists of two image-based controllers is utilized for keeping the features in the field-of-view. Simulation results are presented to validate the effectiveness of the proposed approach.
format	article
author	Yao Huang
author_facet	Yao Huang
author_sort	Yao Huang
title	A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
title_short	A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
title_full	A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
title_fullStr	A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
title_full_unstemmed	A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints
title_sort	switched approach to image-based stabilization for nonholonomic mobile robots with field-of-view constraints
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/c7e4c3dadf914890bbca8dd64cd3c30d
work_keys_str_mv	AT yaohuang aswitchedapproachtoimagebasedstabilizationfornonholonomicmobilerobotswithfieldofviewconstraints AT yaohuang switchedapproachtoimagebasedstabilizationfornonholonomicmobilerobotswithfieldofviewconstraints
_version_	1718413101740589056

A Switched Approach to Image-Based Stabilization for Nonholonomic Mobile Robots with Field-of-View Constraints

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