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T. Lietmann, Boris Lohmann

Image-Based Visual Servoing for Autonomous Navigation of a Mobile Platform

A new visual servoing controller based on the image-jacobian-matrix is proposed and used to navigate a mobile platform (wheelchair). This is done by only evaluating deviations in the camera´s image and without using the position of the landmark in the world coordinate frame. The common 2D-visual servoing approach is extended to 3D-visual servoing by adding the distance between landmark and camera into the control scheme. Due to the non-holonomic constraints of the wheelchair the visual servoing has to be supported by an additional trajectory tracking control. Furthermore, a pan-tilt-head is used for turning the camera and keeping the landmark in the camera´s field of view.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 51, 02/2003
Pages: 086

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