IJAT Vol.5 No.4 pp. 569-574
doi: 10.20965/ijat.2011.p0569


Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots

Atsushi Ozato* and Noriaki Maru**

*Daikin Industries Ltd., 2-4-12 Nakazaki Nishi, Kita, Osaka City, Osaka, Japan

**Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan

October 18, 2010
March 1, 2011
July 5, 2011
omnidirectional mobile robot, linear visual servoing, binocular visual space, position and attitude control

This article proposes a Linear Visual Servoing (LVS)-based method of controlling the position and attitude of omnidirectional mobile robots. This article uses two markers to express their target position and attitude in binocular visual space coordinates, based on which new binocular visual space information which includes position and attitude angle information is defined. Binocular visual space information and the motion space of an omnidirectional mobile robot are linearly approximated, and, using the approximation matrix and the difference in the binocular visual space information between a target marker and a robot marker, the robot’s translational velocity and rotational velocity are generated. Since those are all generated based only on disparity information on an image, which is similar to how this is done in existing LVS, a camera angle is not required. Thus, the method is robust against calibration errors in camera angles, as is existing LVS. The effectiveness of the proposed method is confirmed by simulation.

Cite this article as:
A. Ozato and N. Maru, “Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots,” Int. J. Automation Technol., Vol.5, No.4, pp. 569-574, 2011.
Data files:
  1. [1] P. K. Allen, B. Yoshimi, and A. Timucenko, “Real-time visual servoing,” Proc. of IEEE ICRA, pp. 851-856, 1991.
  2. [2] A. J. Koivo and N. Houshangi, “Real-time vision feedback for sevoing robotic manipulator with self-tuning controller,” IEEE Trans. on Systems, Man, and Cybernetics, Vol.21, No.1, pp. 134-142, 1991.
  3. [3] L. E.Weiss, A. C. Sanderson, and C. P. Neuman, “Dynamic Sensor-Based Control of Robots with Visual Feedback,” IEEE Trans. on Robotics And Automation, RA-3(5), pp. 404-417, 1987.
  4. [4] W. Jang and Z. Bien, “Feature-based Visual Servoing of an Eye-In-Hand Robot with Improved Tracking Performance,” Proc. of IEEE ICRA, pp. 2254-2260, 1991.
  5. [5] T. Mitsuda, N. Maru, H. Fujikawa, and F. Miyazaki, “Visual servoing based on linear approximation of Inverse Kinematics,” J. of RSJ, Vol.14, No.5, pp. 743-750, 1996. (in Japanese)
  6. [6] K. Okamoto, K. Yamaguchi, and N. Maru, “Following Motion Control of the Mobile Robot by Linear Visual Servoing,” J. of JSME, 72-718, pp. 1840-1847, 2006. (in Japanese)

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 08, 2019