Unicycle-like Robots with Eye-in-Hand Monocular Cameras: From PBVS towards IBVS - Visual Servoing via Advanced Numerical Methods - page 346

into two phases: a servoing process and a map building for servoing process. The
servoing hybrid control is based on a PBVS scheme that is also presented. Map con-
struction complies with the need of overcoming the limits of the servoing scheme in
a large environment. The work could be regarded as an attempt to connect control
techniques (action) and sensorial data interpretation (perception).
Furthermore, a method that associates space regions to optimal vehicle trajecto-
ries, combined with a limited FOV camera, is presented. Then, optimal trajectory
words are translated from 3D space to image space, in order to adopt an IBVS
controller to track image feature trajectories. Notice that, the mobile robot au-
tonomous capability, i.e. , the ability to move in a large environment, is increased
using appearance-based visual maps, in which metric data are not of interest.
Experiments on real nonholonomic robot platforms are reported for both ap-
proaches. The robot successfully reached the desired position while keeping the
tracked feature inside the FOV. Moreover, even if the initial and the desired images
do not have a common set of features, the servoing is still feasible using image data
stored in the maps.
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