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Journal of Applied Mathematics
Volume 2014, Article ID 638539, 14 pages
Research Article

Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint

1School of Information Science and Engineering, Central South University, Changsha 410075, China
2Hunan Engineering Laboratory for Advanced Control and Intelligent Automation, Changsha 410075, China

Received 28 March 2014; Revised 14 July 2014; Accepted 14 July 2014; Published 6 August 2014

Academic Editor: Guoqiang Hu

Copyright © 2014 Yang Xu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Image-based visual servoing for nonholonomic mobile robots using epipolar geometry is an efficient technology for visual servoing problem. An improved visual servoing strategy, namely, three-step epipolar-based visual servoing, is developed for the nonholonomic robot in this paper. The proposed strategy can keep the robot meeting FOV constraint without any 3D reconstruction. Moreover, the trajectory planned by this strategy is shorter than the existing strategies. The mobile robot can reach the desired configuration with exponential converge. The control scheme in this paper is divided into three steps. Firstly, by using the difference of epipoles as feedback, the robot rotates to make the current configuration and desired configuration in the same orientation. Then, by using a linear input-output feedback, the epipoles are zeroed so as to align the robot with the goal. Finally, by using the difference of feature points, the robot reaches the desired configuration. Simulation results and experimental results are given to illustrate the effectiveness of the proposed control scheme.