Implementation of Image-based visual servoing for nonholonomic mobile robot control
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2017
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Prikaz svih podataka o dokumentuApstrakt
Image based visual servoing (IBVS) is one of the most commonly used algorithms for visual control in robotics. Therefore, in this paper, the authors introduce visual servoing system for nonholonomic mobile robot navigation and localization. First, we present simulation of the IBVS algorithm and then its implementation on the real mobile robot. Robot used in experiment is Khepera II equipped with the PWC320G web camera. The goal of this experiment is to navigate robot to desired pose using only information acquired from the camera. The whole control system is implemented in MATLAB and tested in laboratory model of manufacturing environment.
Ključne reči:
IBVS / Mobile robot / Visual servoingIzvor:
First International Student Scientific Conference “Multidisciplinary approach to contemporary research”, 2017, 223-235Finansiranje / projekti:
- Inovativni pristup u primeni inteligentnih tehnoloških sistema za proizvodnju delova od lima zasnovan na ekološkim principima (RS-MESTD-Technological Development (TD or TR)-35004)
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Institucija/grupa
Mašinski fakultetTY - CONF AU - Jokić, Aleksandar AU - Petrović, Milica AU - Miljković, Zoran PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4239 AB - Image based visual servoing (IBVS) is one of the most commonly used algorithms for visual control in robotics. Therefore, in this paper, the authors introduce visual servoing system for nonholonomic mobile robot navigation and localization. First, we present simulation of the IBVS algorithm and then its implementation on the real mobile robot. Robot used in experiment is Khepera II equipped with the PWC320G web camera. The goal of this experiment is to navigate robot to desired pose using only information acquired from the camera. The whole control system is implemented in MATLAB and tested in laboratory model of manufacturing environment. C3 - First International Student Scientific Conference “Multidisciplinary approach to contemporary research” T1 - Implementation of Image-based visual servoing for nonholonomic mobile robot control EP - 235 SP - 223 UR - https://hdl.handle.net/21.15107/rcub_machinery_4239 ER -
@conference{ author = "Jokić, Aleksandar and Petrović, Milica and Miljković, Zoran", year = "2017", abstract = "Image based visual servoing (IBVS) is one of the most commonly used algorithms for visual control in robotics. Therefore, in this paper, the authors introduce visual servoing system for nonholonomic mobile robot navigation and localization. First, we present simulation of the IBVS algorithm and then its implementation on the real mobile robot. Robot used in experiment is Khepera II equipped with the PWC320G web camera. The goal of this experiment is to navigate robot to desired pose using only information acquired from the camera. The whole control system is implemented in MATLAB and tested in laboratory model of manufacturing environment.", journal = "First International Student Scientific Conference “Multidisciplinary approach to contemporary research”", title = "Implementation of Image-based visual servoing for nonholonomic mobile robot control", pages = "235-223", url = "https://hdl.handle.net/21.15107/rcub_machinery_4239" }
Jokić, A., Petrović, M.,& Miljković, Z.. (2017). Implementation of Image-based visual servoing for nonholonomic mobile robot control. in First International Student Scientific Conference “Multidisciplinary approach to contemporary research”, 223-235. https://hdl.handle.net/21.15107/rcub_machinery_4239
Jokić A, Petrović M, Miljković Z. Implementation of Image-based visual servoing for nonholonomic mobile robot control. in First International Student Scientific Conference “Multidisciplinary approach to contemporary research”. 2017;:223-235. https://hdl.handle.net/21.15107/rcub_machinery_4239 .
Jokić, Aleksandar, Petrović, Milica, Miljković, Zoran, "Implementation of Image-based visual servoing for nonholonomic mobile robot control" in First International Student Scientific Conference “Multidisciplinary approach to contemporary research” (2017):223-235, https://hdl.handle.net/21.15107/rcub_machinery_4239 .