Image-Based Visual Servoing zur autonomen Navigation einer mobilen Plattform Image-Based Visual Servoing for Autonomous Navigation of a Mobile Platform
نویسندگان
چکیده
Ein neuartiger visueller Regler zur autonomen, bildbasierten Navigation einer mobilen Plattform (Rollstuhl) wird vorgestellt. Ziel ist es, den Rollstuhl mittels Image-Based Visual Servoing in eine relative Lage bezüglich einer Landmarke zu navigieren, was allein durch Auswertung von Abweichungen im Kamerabild und ohne Bestimmung der Landmarkenposition in Weltkoordinaten geschieht. Dies wird mithilfe des in diesem Artikel vorgestellten 3D-Visual Servoing erreicht, das eine Erweiterung des herkömmlichen 2D-Visual Servoing darstellt, indem die Entfernung zwischen Kamera und Landmarke mit in die bildbasierte Regelung einbezogen wird. Der visuelle Regler wird dabei durch eine unterlagerte Trajektorienfolgeregelung unterstützt, welche die Fahrt der Plattform überwacht. Zusätzlich wird die Kamera drehbar auf einem Schwenk-Neige-Kopf gelagert, sodass die Landmarke während der Fahrt im Kamerabild gehalten werden kann.
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