Image-based visual servoing zur autonomen navigation einer mobilen plattform

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.