Control of a Mobile Robot in Localization Uncertainty via visual trajectory Case Solution & Answer

Control of a Mobile Robot in Localization Uncertainty via visual trajectory Case Study Solution


The visual serving, also referred to the vision based robot control is the optimal method which uses the image sensor in the feedback loop for the robot motion control. The visual serving field combines control theory, robotics as well as machine vision. This technique combines three theories such as robotics and control theory. This technique can be used in several purposes such as controlling of UGV robots, autonomous robots and autonomous water surface vehicles, controlling of quad copter and helicopter, the autonomous landing of airplanes. In addition to this, the visual serving tend to offer the efficient solutions to control the motions of robots. It supplies good robustness to calibration uncertainties and sensor noise, high positioning accuracy as well as the reactivity to the changes in the environment (Thuilot, 2002).

The inconsistency in the robot motion and incongruous group occur due to the following three reasons.

  1. The first thing is the smoothness of the camera movement and there should be consistency in the appearance of the visual SLAM.
  2. According to the researcher the environment should be static. In this statement, static means that the environment contains stationary and rigid things.
  3. There are much similar texture exist in the world. From a visual perspective, the word is repetitive.

The visual serving could be found in several application including cooperative mobile soccer robots movements, autonomous mobile robots navigation, autonomous water surface vehicles docking, quadrocopter and helicopter guidance and hovering, autonomous helicopter handling, attitudes satellites control, movements and grasping of objects as well as keeping the relative view in the dynamic environment (Rafael Kelly, 2000). The approaches of visual servoing could be divided into hybrid visual servoing, image-based visual servoing and position-based visual servoing. This technique is also divided into a different configuration based on camera and UGV robot such as the eye in hand & eye to hand configuration, one, two, or multiple cameras. Some visual serving configuration takes benefits of structural properties that are mainly used to design the control algorithm for example planar surface. Therefore in this report, we commonly used an eye to hand technique with only one camera. The UGV robot is controlled through an overhead mounted camera in arbitrary inclination at ground plane. On the other hand, the camera is placed in a robot to provide the position of the robot which is moving on a flat surface.There are some issues with regard to the design the controller for the trajectory tracking which is considered one of the pertinent issues in the robotics. The posture stabilization is considered second most fundamental issues in the robotics. Over the period of time, there have been many approaches and methods developed to tackle the problems related to the trajectory tracking.

The simultaneous localization and mapping (SLAM) is the navigations systemaes implementation that tend to use the priori or the artificial landmarks known maps of the environment as well as the accurate sensor systems in order to obtain the precise landmark measurement or the map features. In the similar way, the task of developing the environment map providing the accurate position of the robot is considerable issue. However, it is a much harder to resolve the complete problem simultaneously, hence allowing the mobile robot to develop the unexplored environment map while simultaneously using the similar map to localize itself. The popularity and acceptance of SLAM on larger scale is related with the emergence of the indoor mobile robots. The use of the global positioning system has no room to bound the error of localization for the indoor usage. In addition to this, the SLAM provides the appealing alternative to the user built maps, demonstrating that the operation of robot is approachable even if there is an absence of purpose specification localization infrastructure(Fuentes-Pacheco, 2015). There are various significant applications of the simultaneous localization and mapping which are as follows;

  1. Rescue task for difficult navigation or high risk environment
  2. Terrestrial, aerial, planetary and oceanic exploration
  3. Augmented reality applications where there is a involvement of the virtual objects in the real-world scenes.
  4. Visual systems of surveillance………………………….


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