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A survey on visual servoing for wheeled mobile robots

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Abstract

Owing to advantages of large workspace and flexible movement, wheeled mobile robots are widely applied in industry. With vision module for environment perception, visual servoing of wheeled mobile robots has been one of the hottest research topics in robotic fields. Due to different demands for various applications and specific properties of the system, many challenges are faced for designing visual servoing control strategies. In this paper, development of visual servoing for mobile robots is elaborated in visual and control modules, respectively. The vision module along with various uncertainties are analyzed, which provides feedback signals for the servo controller, thus associating the image space with the motion space for further control. Moreover, motion controllers are devised under various constraints for different objectives, such as pose regulation and trajectory tracking. Research trends are discussed to show further focus of visual servoing of mobile robots.

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Acknowledgements

We would like to express our sincere thanks to the constructive comments and suggestions from reviewers, the associate editor and the editor-in-chief.

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Authors and Affiliations

  1. Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China

    Chenping Li, Runhua Wang & Xuebo Zhang

  2. School of Control Science and Engineering, Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, Tianjin, 300387, China

    Baoquan Li

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Correspondence to Baoquan Li.

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This work is supported in part by National Key Research and Development Project under Grant 2018YFB1307503, in part by National Natural Science Foundation of China Under Grant U1613210, 91848203, and 61973234, in part by Tianjin Science Fund for Distinguished Young Scholars, in part by Tianjin Natural Science Foundation under Grant 19JCYBJC18500, and in part by Fundamental Research Funds for the Central Universities.

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Li, C., Li, B., Wang, R. et al. A survey on visual servoing for wheeled mobile robots. Int J Intell Robot Appl 5, 203–218 (2021). https://doi.org/10.1007/s41315-021-00177-0

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