Visual Servoing of Nonholonomic Mobile Robots: A Review and a Novel Perspective

Abstract

Mobile robots combined with visual feedback have been an indispensable role of the society, including in industry and in service, which have attracted extensive researchers over the past years. In this paper, we provide an overview of the visual servoing for nonholonomic mobile robots and introduce two feasible system modeling methods in perspective of active disturbance rejection control (ADRC). Firstly, the visual servoing systems of mobile robots are classified into independent type and coupling type based on the robot and camera configuration. Then three mainstream strategies are discussed according to the different requirements for camera calibration, and the efficiency of which are presented from existing works. In order to cope with the uncalibrated visual servoing of nonholonomic mobile robots, we give two feasible attempts to convert the robot system model into the canonical integrator chain of the ADRC by using the input-state scaling technique and flat output. Finally, future work is outlined accompanied with the challenges.

Keywords

• Visual servoing
• nonholonomic mobile robot
• active disturbance rejection control (ADRC)