VIDEO-BASED VISUAL SERVOING FOR FORMATION CONTROL OF UNICYCLE ROBOTS USING ROS AND GAZEBO

Abstract

We present a video-based visual servoing system for driving unicycle robots in the ROS and gazebo reproduction instrument, furnished with camera sensors toward the ideal setup. The proposed approach uses the epipolar geometry which characterizes the present and wanted camera views, and furthermore needn't bother with any information on the 3-D scene geometry. The accompanying plan is partitioned into two stages. Utilizing an estimated information yield linearizing input, to get the worldwide situation of robots,epipoles are focused on the arrangement of the robots with the objective. Further this plan is then utilized in the second translational advance to get the ideal arrangement. The reenactment and the investigation results will help in demonstrating the beneficial after effect of the proposed control plot.