Abstract
A new visual servoing controller based on the image-jacobian-matrix is proposed and used to navigate a mobile platform (wheelchair). This is done by only evaluating deviations in the camera’s image and without using the position of the landmark in the world coordinate frame. The common 2D-visual servoing approach is extended to 3D-visual servoing by adding the distance between landmark and camera into the control scheme. Due to the non-holonomic constraints of the wheelchair the visual servoing has to be supported by an additional trajectory tracking control. Furthermore, a pan-tilt-head is used for turning the camera and keeping the landmark in the camera’s field of view.
Translated title of the contribution | Image-based visual servoing for autonomous navigation of a mobile platform |
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Original language | German |
Pages (from-to) | 86-95 |
Number of pages | 10 |
Journal | At-Automatisierungstechnik |
Volume | 51 |
Issue number | 2 |
DOIs | |
State | Published - 2003 |
Externally published | Yes |