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Visual Feedback for Nonholonomic Mobile Robots: Homography Based Approach

Visual Feedback for Nonholonomic Mobile Robots: Homography Based Approach

Andrea Usai, Paolo Di Giamberardino
Copyright: © 2010 |Pages: 30
ISBN13: 9781615208494|ISBN10: 1615208496|EISBN13: 9781615208500
DOI: 10.4018/978-1-61520-849-4.ch006
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MLA

Usai, Andrea, and Paolo Di Giamberardino. "Visual Feedback for Nonholonomic Mobile Robots: Homography Based Approach." Intelligent Industrial Systems: Modeling, Automation and Adaptive Behavior, edited by Gerasimos Rigatos , IGI Global, 2010, pp. 152-181. https://doi.org/10.4018/978-1-61520-849-4.ch006

APA

Usai, A. & Di Giamberardino, P. (2010). Visual Feedback for Nonholonomic Mobile Robots: Homography Based Approach. In G. Rigatos (Ed.), Intelligent Industrial Systems: Modeling, Automation and Adaptive Behavior (pp. 152-181). IGI Global. https://doi.org/10.4018/978-1-61520-849-4.ch006

Chicago

Usai, Andrea, and Paolo Di Giamberardino. "Visual Feedback for Nonholonomic Mobile Robots: Homography Based Approach." In Intelligent Industrial Systems: Modeling, Automation and Adaptive Behavior, edited by Gerasimos Rigatos , 152-181. Hershey, PA: IGI Global, 2010. https://doi.org/10.4018/978-1-61520-849-4.ch006

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Abstract

In this chapter, we describe a homography approach to vision based feedback for nonholonomic mobile robots control. Differently than other approaches based on homography or fundamental matrix, our method has been developed to be robust to reference features loss, during the robot movement. This allows us to implement an arbitrary control law without the need of a teach-by-showing stage. In the chapter, the use of a stereo camera system to improve the observer accuracy and to perform an auto-calibration of the stereo-head pose is investigated. Experimental results are provided to show the performances of the proposed system state estimation, using an eye-in-hand mobile robotic platform.

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