1A1-G10 アクティブカメラを有す車輪移動ロボットに対する特徴点の仮想重心を用いた画像ベース視覚サーボ(車輪型/クローラ型移動ロボット(1))

抄録

This paper addresses the image-based visual servoing (IBVS) problem for a nonholonomic wheeled mobile robot with an active camera. We propose an IBVS scheme using a virtual barycenter of all feature points. The wheeled mobile robot is considered as a kind of nonholonomic mobile manipulator. De Luca, et al. have proposed an IBVS scheme for mobile manipulators based on the task priority method. However, De Luca's scheme dose not enough the original control objective in some cases. In this paper, we introduces the virtual barycentric point to perform IBVS for it in the primary task and IBVS for each real feature point in the secondary task.