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Mobile Robot Navigation Using Visual Servoing

Equipping robots with vision systems increases the versatility of the robots but also complexity of their control. Despite the increasing complexity, vision remains an attractive sensory modality for mobile robot navigation since it provides rich information about the robot's environment. In this work, a problem of visual servoing based on a fixed monocular camera mounted on a mobile robot is investigated. A homography based control method is used for autonomous navigation of a mobile robot with nonholonomic motion constraints. The visual control task uses the idea of homing. With this approach, an image is taken previously at the desired position. Then, the robot is driven from an initial position towards the desired position by using the information extracted from the target image and the images taken during movement of the robot.