Visual servoing of wheeled mobile robots under dynamic environment

Abstract

In this paper, a novel method is proposed about visual servoing with a monocular wheeled mobile robot system, which can deal with dynamic visual targets. For the existing methods, the mobile robot can reach the desired pose correctly where the feature points are fixed. However, the mobile robot cannot reach the desired pose when the feature points have been moved. By adding a fixed camera in the scene for monitoring the movement of the feature points, the proposed approach can still work well when feature points are moved. From the images of the monitor camera, the POSIT algorithm is utilized to calculate the movement of the feature points. Likewise, we can calculate the relationship between the relevant coordinate systems with respect to the feature points. By coordinate transformation, the translation vector and rotation matrix between the current pose and the desired pose of mobile robot can be obtained by real-time image feedback. Finally, by utilizing the polar coordinate representation, a motion controller is adopted to pilot the mobile robot reach the desired pose. The feasibility of the proposed method is investigated by simulation results.