A real-time Model Based Visual Servoing application for a differential drive mobile robot using Beaglebone Black embedded system

Abstract

This paper presents a Model Based Visual Servoing (MBVS) control strategy for a differential drive mobile robot navigation using single camera attached on the robot platform. Four points image features are used to compute the angular velocities of the right wheel and the left wheel. The model based visual servoing scheme was simulated using visual servoing platform (ViSP) libraries. The simulation results show the effectiveness of the designed control law. The control law performances are measured both in the image space and in the control input space. The effectiveness of the MBVS has also been verified in real-time experiments using Beaglebone Black as the main hardware controller.