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- W2936407452 abstract "In this paper, a novel monocular visual servoing strategy is proposed to drive a wheeled mobile robot to several desired poses without prerecorded desired images. First of all, according to the feature points with known 3D coordinates, the transformation relationship between the frame of the feature point and that of the vehicle camera is estimated. Furthermore, the reference frame can be defined based on the projection of the feature frame. Then, the relationship between the reference frame and the current pose of the mobile robot is obtained. Therefore, the desired pose can be defined based on the reference frame, and then the relative pose relationship between current and desired poses can be obtained. After that, the robot can be adjusted to the desired pose by using the polar coordinate control law. Compared with existing methods that adopt the teaching pattern for visual regulation, this scheme can still work well without obtaining the desired image in advance. Simulation results are provided to verify the effectiveness of this strategy." @default.
- W2936407452 created "2019-04-25" @default.
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- W2936407452 date "2018-07-01" @default.
- W2936407452 modified "2023-10-14" @default.
- W2936407452 title "Visual Servoing of Mobile Robot with Setting Desired Pose Arbitrarily" @default.
- W2936407452 doi "https://doi.org/10.1109/cyber.2018.8688315" @default.
- W2936407452 hasPublicationYear "2018" @default.
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