This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a constant distance between the two agents. In order to relieve the burden of image processing, control is based on the regulation of relative scale changes between image features on the leader. This eliminates the need to waste valuable time and processing power determining range or estimating target velocity and allows for the use of a simple single camera vision system.
Reference:
Burke, M.G. 2009. Feature tracking for visual servo based range regulation on a mobile robot. 20th Annual Symposium of the Pattern Recognition Association of South Africa (PRASA). Stellenbosch, South Africa, 30 November - 01 December 2009, pp 1
Burke, M. G. (2009). Feature tracking for visual servo based range regulation on a mobile robot. PRASA 2009. http://hdl.handle.net/10204/3847
Burke, Michael G. "Feature tracking for visual servo based range regulation on a mobile robot." (2009): http://hdl.handle.net/10204/3847
Burke MG, Feature tracking for visual servo based range regulation on a mobile robot; PRASA 2009; 2009. http://hdl.handle.net/10204/3847 .
