Abstract
The stabilization to a desired pose of a nonholonomic mobile robot carrying a manipulator arm, based on sensory data provided by a camera mounted on the end-effector of the arm, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. The visual data obtained as the camera tracks a target of known geometry are used to implement a continuous time-varying state feedback for the stabilization of the mobile robot. We focus on the case where the camera moves parallel to the plane supporting the mobile robot. The experimental evaluation of the proposed techniques uses a mobile manipulator prototype developed in our laboratory and dedicated multiprocessor real-time image processing and control systems. The real-time programming aspects of the experiments are handled in the context of the Orccad control architecture development environment.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
R. Alur, C. Courcoubetis, N. Halbwachs, T. Henzinger, P. Ho, X. Nicollin, A. Olivero, J. Sifakis and S. Yovine, “The Algorithmic Analysis of Hybrid Systems”, Theoretical Computer Science, Vol. 137, 1995.
B. Espiau, F. Chaumette and P. Rives, “A New Approach to Visual Servoing in Robotics”, IEEE Trans. on Robotics and Automation 8, 313–326, 1992.
B. Espiau, K. Kapellos and M. Jourdan, “Verification in Robotics: Why and How?”, Robotics Research, The 7th Intl. Symposium, Eds. G. Giralt and G. Hirzinger, Springer Verlag, 1995.
G.D. Hager and S. Hutchinson, Eds., “Vision-based Control of Robotic Manipulators”, Special section of IEEE Trans. Robotics and Automation 12, 649–774, 1996.
K. Hashimoto, Ed., Visual Servoing, World Scientific, 1993.
R.T. M'Closkey and R.M. Murray, “Nonholonomic Systems and Exponential Convergence: Some Analysis Tools”, IEEE Conf. on Decision and Control, San Antonio, Texas, 1993.
R.T. M'Closkey and R.M. Murray, “Exponential Stabilization of Driftless Nonlinear Control Systems Using Homogeneous Feedback”, preprint, Caltech, 1995.
P. Morin and C. Samson, “Application of Backstepping Techniques to the Time-Varying Exponential Stabilization of Chained Form Systems”, INRIA Research Report No. 2792, Sophia-Antipolis, 1996.
R. Pissard-Gibollet and P. Rives, “Applying Visual Servoing Techniques to Control a Mobile Hand-Eye System”, IEEE Intl. Conf. on Robotics and Automation, 1995.
R. Pissard-Gibollet, K. Kapellos, P. Rives and J.J. Borrelly, “Real-Time Programming of Mobile Robot Actions Using Advanced Control Techniques”, Experimental Robotics IV, The 4th International Symposium, Eds. O. Khatib and J.K. Salisbury, pp. 565–574, Stanford, USA, June 30–July 2, 1995.
J.-B. Pomet and C. Samson, “Time-Varying Exponential Stabilization of Non-holonomic Systems in Power Form”, INRIA Research Report No. 2126, Sophia-Antipolis, 1993.
P. Rives, J.J. Borrelly, J. Gallice and P. Martinet, “A Versatile Parallel Architecture for Vision Based Applications”, Workshop on Computer Architecture for Machine Perception, New Orleans, 1993.
P. Rives, R. Pissard-Gibollet and K. Kapellos, “Development of a Reactive Mobile Robot Using Real-Time Vision”, Third International Symposium on Experimental Robotics, Kyoto, Japan, October 28–30, 1993.
C. Samson, “Velocity and Torque Feedback Control of a Nonholonomic Cart”, in Advanced Robot Control, Ed. C. Canudas de Wit, Lecture Notes in Control and Information Sciences, No. 162, Springer-Verlag, 1990.
C. Samson, “Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots”, The International Journal of Robotics Research 12, 55–64, 1993.
D. Simon, B. Espiau, E. Castillo and K. Kapellos, “Computer-aided design of generic robot controller handling reactivity and real-time control issues”, IEEE Trans. on Control Systems and Technology 1, 1–24, 1993.
K. Sugihara, “Some Location Problems for Robot Navigation Using a Single Camera”, Computer Vision, Graphics and Image Processing 42, 112–129, 1988.
D.P. Tsakiris, C. Samson and P. Rives, “Vision-based Time-varying Mobile Robot Control”, Final European Robotics Network (ERNET) Workshop, Darmstadt, Germany, September 9–10, 1996. Published in Advances in Robotics: The ERNET Perspective, Eds. C. Bonivento, C. Melchiorri and H. Tolle, pp. 163–172, World Scientific Publishing Co., 1996.
D.P. Tsakiris, C. Samson and P. Rives, “Vision-based Time-varying Stabilization of a Mobile Manipulator”, Proceedings of the Fourth International Conference on Control, Automation, Robotics and Vision (ICARCV'96), pp. 2212–2216, Westin Stamford, Singapore, December 4–6, 1996 (Available on WWW in URL: http://www.inria.fr/icare/personnel/tsakiris).
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Tsakiris, D.P., Kapellos, K., Samson, C., Rives, P., Borrelly, JJ. (1998). Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112993
Download citation
DOI: https://doi.org/10.1007/BFb0112993
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76218-8
Online ISBN: 978-3-540-40920-5
eBook Packages: Springer Book Archive