English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

While Visual Servoing is deeply studied to perform simple maneuvers, thecomplex cases where the target is far out of the camera field of view duringthe maneuver are not common in the literature. For this reason, in this paper,we present ViKi-HyCo (Visual Servoing and Kinematic Hybrid-Controller). Thisapproach generates the necessary maneuvers for the complex positioning of anon-holonomic mobile robot in outdoor environments. In this method, we usecamera-LiDAR fusion for automatic target calculation. The multi-modal nature ofour target representation allows us to hybridize the visual servoing with akinematic controller. In this way, we can perform complex maneuvers even whenthe target is far away from the camera's field of view. The automatic targetcalculation is performed through object localization for outdoor environmentsthat estimate the spatial location of a target point for the kinematiccontroller and allow the dynamic calculation of a desired bounding box of thedetected object for the visual servoing controller. The presented approach doesnot require an object-tracking algorithm and applies to any visually trackingrobotic task where its kinematic model is known. The ViKi-HyCo gives an errorof 0.0428 \pm 0.0467 m in the X-axis and 0.0515 \pm 0.0323 m in the Y-axis atthe end of a complete positioning task.

ViKi-HyCo: A Hybrid-Control approach for complex car-like maneuvers