Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint

Image-based visual servoing for nonholonomic mobile robots using epipolar geometry is an efficient technology for visual servoing problem. An improved visual servoing strategy, namely, three-step epipolar-based visual servoing, is developed for the nonholonomic robot in this paper. The proposed strategy can keep the robot meeting FOV constraint without any 3D reconstruction. Moreover, the trajectory planned by this strategy is shorter than the existing strategies. The mobile robot can reach the desired configuration with exponential converge. The control scheme in this paper is divided into three steps. Firstly, by using the difference of epipoles as feedback,the robot rotates to make the current configuration and desired configuration in the same orientation. Then, by using a linear input-output feedback, the epipoles are zeroed so as to align the robot with the goal. Finally, by using the difference of feature points, the robot reaches the desired configuration. Simulation results and experimental results are given to illustrate the effectiveness of the proposed control scheme