ESSENTIAL-MATRIX-BASED VISUAL SERVOING OF MOBILE ROBOTS WITHOUT SHORT BASELINE DEGENERATION

Baoquan Li, Yongchun Fang, and Xuebo Zhang

Keywords

Nonholonomic mobile robots, visual servo regulation, essentialmatrix, short baseline degeneration

Abstract

For a nonholonomic mobile robot equipped with a fixed camera, we propose a novel essential-matrix-based switching visual servoing strategy in this paper by using multiple essential matrices to address the short baseline degeneration problem. Firstly, three essential matrices of the system are introduced, which are then estimated up to a determinable constant scale factor with respect to their true value without any additional constraint for the feature points. Then, to deal with the short baseline degeneration problem of essential matrices and the nonholonomic motion constraint, a threestage switching control law, which is free of any complex pose estimation algorithm, is subsequently designed by selecting proper essential matrices, despite the lack of metric information of the scene. The rapid convergent property of system errors is proven with mathematical analysis. The performance of the proposed strategy is validated by experimental results, which demonstrate that this strategy achieves efficient regulation for a nonholonomic mobile robot by successfully solving the short baseline degeneration problem.

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