Switching control for homography-based mobile robot visual servoing
CAO Yu
LIU Shan
Abstract：For a monocular camera-based mobile robot system, a novel visual servo approach based on homography matrix is proposed. This approach realizes the control target by visual feedback with the lack of depth information, the robot can arrive at the position accurately by given an image taken under the position. Instead of common homography decomposition, this approach takes use of homography matrix elements to structure state varibles. In addition, considering the field of view constraint, the proposed approach doesn't need the reference target to be visible in real time by the transi-tivity of homography. A switched controller is designed to drive the robot to reach desired position under the satisfaction of the nonholonomic constraints. In this paper, theoretical analysis and simulation verify the feasibility and effectiveness of the approach.
Keywords：visual servomobile robotmonocular visionhomographyfield of viewswitched controller
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：11( 109-119 )