Fisheye-based visual aligned regulation for wheeled mobile robots

Author:

Zhu Guoxin1ORCID,Li Baoquan1ORCID,Shi Wuxi1ORCID,Zhang Xuebo2ORCID

Affiliation:

1. Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, School of Control Science and Engineering, Tiangong University, China

2. Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information Systems, Nankai University, China

Abstract

In this paper, a fisheye-based visual servo regulation method is proposed for wheeled mobile robots, which utilizes motion planning algorithms to provide trajectories for driving the robot to desired poses in an aligned pattern. To satisfy the wide field-of-view (FOV) requirement in robotic systems, the image projection model of fisheye is analyzed, and derivation and estimation of homography for fisheye vision are implemented to facilitate robotic pose calculation. Compared with traditional visual regulation schemes, motion planning and trajectory tracking techniques are combined to make mobile robots reach given poses in the frontal aligned style, which guarantees the robot to move smoothly and is extendable such as for car-like robots. Desired image trajectories are calculated reversely by the fisheye model with respect to the planned geometric path, and then a tracking controller is employed for maneuvering the mobile robot. Simulation and comparative experimental results are collected to verify effectiveness of the proposed strategy.

Publisher

SAGE Publications

Subject

Instrumentation

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