Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-25T02:21:55.508Z Has data issue: false hasContentIssue false
  • English
  • Français

Visual servoing for path reaching with nonholonomic robots

Published online by Cambridge University Press:  11 April 2011

Andrea Cherubini ,
François Chaumette  and
Giuseppe Oriolo
Andrea Cherubini*
Affiliation:
INRIA Rennes - Bretagne Atlantique, Campus de Beaulieu, 35042 Rennes, France. E-mail: [email protected]
François Chaumette
Affiliation:
INRIA Rennes - Bretagne Atlantique, Campus de Beaulieu, 35042 Rennes, France. E-mail: [email protected]
Giuseppe Oriolo
Affiliation:
Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza,” Via Ariosto 25, 00185 Roma, Italy. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.

Keywords

Control of robotic systemsMobile robotsVisual servoingNavigationAutomation
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1037 - 1048
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bonin-Font, F., Ortiz, A. and Oliver, G., “Visual navigation for mobile robots: A survey,” J. Intell. Robot. Syst. 53 (3), 263–296 (2008).CrossRefGoogle Scholar
2.Agrawal, M. and Konolige, K., “Real-Time Localization in Outdoor Environments Using Stereo Vision and Inexpensive GPS,” Proceedings of the International Conference on Pattern Recognition, Hong Kong (2006).Google Scholar
3.Leonard, J., How, J., Teller, S., Berger, M., Campbell, S., Fiore, G., Fletcher, L., Frazzoli, E., Huang, A., Karaman, S., Koch, O., Kuwata, Y., Moore, D., Olson, E., Peters, S., Teo, J., Truax, R., Walter, M., Barrett, D., Epstein, A., Maheloni, K., Moyer, K., Jones, T., Buckley, R., Antone, M., Galejs, R., Krishnamurthy, S. and Williams, J. “A perception-driven autonomous vehicle,” J. Field Robot. 25 (10), 727–774 (2008).CrossRefGoogle Scholar
4.Argyros, A. A., Bekris, K. E., Orphanoudakis, S. C. and Kavraki, L. E., “Robot homing by exploiting panoramic vision,” Autono. Robots 19 (1), 7–25 (2005).CrossRefGoogle Scholar
5.Royer, E., Lhuillier, M., Dhome, M. and Lavest, J.-M., “Monocular vision for mobile robot localization and autonomous navigation,” Int. J. Comput. Vis. 74 (3), 237–260 (2007).CrossRefGoogle Scholar
6.Scaramuzza, D. and Siegwart, R., “Appearance-guided monocular omnidirectional visual odometry for outdoor ground vehicles,” IEEE Trans. Robot., 24 (5), 1015–1026 (2008).CrossRefGoogle Scholar
7.Guerrero, J. J., Murillo, A. C. and Sagues, C., “Localization and matching using the planar trifocal tensor with bearing-only data,” IEEE Trans. Robot. 24 (2), 494–501 (2008).CrossRefGoogle Scholar
8.Chaumette, F. and Hutchinson, S., “Visual servo control”, IEEE Robot. Autom. Mag. 13 (4), 82–90 (2006) and 14(1), 109–118 (2007).CrossRefGoogle Scholar
9.Espiau, B., Chaumette, F. and Rives, P., “A new approach to visual servoing in robotics,” IEEE Trans. Robot. Autom. 8 (3), 313–326 (1992).CrossRefGoogle Scholar
10.Masutani, Y., Mikawa, M., Maru, N. and Miyazaki, F., “Visual servoing for non-holonomic mobile robots,” Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Munich, Germany (1994).Google Scholar
11.Canudas de Wit, C., Siciliano, B. and Bastin, G., eds., Theory of Robot Control, Communication and Control Engineering (Springer-Verlag, London, 1996).CrossRefGoogle Scholar
12.Diaz del Rio, F., Jimenez, G., Sevillano, J. L., Vicente, S. and Civit Balcells, A., “A Generalization of Path Following for Mobile Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA (1999).Google Scholar
13.Hsieh, M. F. and Ozguner, U., “A Path Following Control Algorithm for Urban Driving,” Proceedings of the IEEE International Conference on Vehicular Electronics and Safety, Columbus, USA (2008).Google Scholar
14.Frezza, R., Picci, G. and Soatto, S., “A Lagrangian Formulation of Nonholonomic Path following,” In: The Confluence of Vision and Control (Springer, Berlin/Heidelberg, 1998).Google Scholar
15.Das, A. K., Fierro, R., Kumar, V., Southall, B., Spletzer, B. and Taylor, J., “Real-Time Vision-Based Control of a Nonholonomic Mobile Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (2001).Google Scholar
16.Skaff, S., Kantor, G., Maiwand, D. and Rizzi, A., “Inertial Navigation and Visual Line Following for a Dynamical Hexapod Robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots Systems, Las Vegas, USA vol. 2, pp. 1808–1813 (2003).Google Scholar
17.Abdelkader, H. H., Mezouar, Y., Andreff, N. and Martinet, P., “Omnidirectional Visual Servoing from Polar Lines,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA (2006).Google Scholar
18.Coulaud, J. B., Campion, G., Bastin, G. and De Wan, M., “Stability analysis of a vision-based control design for an autonomous mobile robot,” IEEE Trans. Robot. 22 (5), 1062–1069 (2006).CrossRefGoogle Scholar
19.Rezoug, A. and Djouadi, M. S., “Visual Based Lane Following for Non-Holonomic Mobile Robot,” Proceedings of the IEEE EUROCON, Saint Petersburg, Russia (2009).Google Scholar
20.Wang, C., Niu, W., Li, Q. and Jia, J., “Visual Servoing Based Regulation of Nonholonomic Mobile Robots with Uncalibrated Monocular Camera,” Proceedings of the IEEE International Conference on Control and Automation, Guangzhou, China (2007).Google Scholar
21.Cherubini, A., Chaumette, F. and Oriolo, G., “A Position-Based Visual Servoing Scheme for Following Paths with Nonholonomic Mobile Robots,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (2008).Google Scholar
22.Cherubini, A., Chaumette, F. and Oriolo, G., “An Image-Based Visual Servoing Scheme for Following Paths with Nonholonomic Mobile Robots,” Proceedings of the International Conference on Control, Automation, Robotics and Vision, Hanoi, Vietnam (2008).Google Scholar
23.Marchand, E., Spindler, F. and Chaumette, F., “ViSP for visual servoing: A generic software platform with a wide class of robot control skills,” IEEE Robot. Autom. Mag. 12 (4), 40–52 (2005).CrossRefGoogle Scholar