NDLI: A hybrid visual servo control system for the autonomous mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Lee, M.-F.R. Chiu, F.H.S.
Copyright Year	2013
Description	Author affiliation: Grad. Inst. of Autom. & Control, Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan (Lee, M.-F.R.; Chiu, F.H.S.)
Abstract	The eye-in-hand and eye-to-hand visual servo configuration both have its own merit and limitation. Eye-in-hand configuration provides more precision but less sight of scene covered. Eye-to-hand configuration is on the contrary. PBVS (Position Based Visual Servo) control suffers from its high sensitivity to model inconsistencies and task conditioning. IBVS (Image Based Visual Servo) control suffers from it lead to highly nonlinear control algorithms. This paper proposed a hybrid visual servo control system integrating both configurations (eye-in-hand and eye-to-hand) and both schemes (PBVS and IBVS) to overcome the above limitations. A wide-angle camera mounted on ceiling (eye-to-hand, calibration required) and PTZ (Pan-Tilt-Zoom, no calibration required) camera mounted on mobile robot (eye-in-hand) is adopted. Various camera calibration methods are evaluated. Sensing, perception, mapping, localization, path planning and motion control are implemented. The experiment result show an accumulated error in robot trajectory (80 mm - 99 mm). The visibility graph in path planning and Dijktra's shortest path searching algorithm offers the optimal performance. The proposed hybrid system shows the efficiency and effectiveness. The proposed hybrid system provides high field of view coverage and local detailed for the objects invisible to the global system.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	31
Ending Page	36
File Size	1301188
Page Count	6
File Format	PDF
e-ISBN	9781479926251
DOI	10.1109/SII.2013.6776698
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Machine vision Robot vision systems Cameras Mobile robots Equations
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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