Direct visual tracking control of remote cellular robots

RICARDO CARELLI; OSCAR NASISI; FLAVIO ROBERTI; SANTIAGO TOSETTI

Madrid, España

Simposio; 13th. Int. Symposium on Measurement and Control in Robotics – Towards advanced robots: Design, sensors, control, Applications – ISMCR´03; 2003

IAI CSI

This paper presents the design of a stable non-linear control system for the remote visual tracking of cellular robots. The robot is controlled through visual feedback based on the processing of the image captured by a fixed video camera observing the workspace. The control algorithm is based only on measurements on the image plane of the visual camera –direct visual control-, thus avoiding the problems related to camera calibration. The control system is proved to asymptotically track a reference point moving on the image plane, which defines the reference trajectory. The proposed controller can be easily applied to the problem of controlling many robots performing a cooperative task. Experimental results are given to show the performance of the overall control system.