Mobile Robot Regulation with Position Based Visual Servoing

Abstract

In this work, a Position Based Visual Servo (PBVS) control system is designed and developed for a differential drive mobile robot to regulate its pose. The target object is a Quick Response code where its model is known to the PBVS system beforehand. The kinematics model of the mobile robot is presented along with the formulation of the Lyapunov’s proportional control scheme. The control system is implemented in a physical platform known as the Husky A200 developed by Clearpath Robotics. Two tests are conducted to study the performance of the control system with and without steering. Results and analysis from physical experiments are included along with future work recommendations.