Visual Servo Control of a Multi-Robot System
Visual servo control has been a seen much development for tasks that need the atomization of movement for one or more robots (position and orientation), extracting a set of characteristics from images. In this paper, a visual servo control was carried out to define positions and orientations of a group of three wheeled robots respecting a football within a structured environment. A game strategy is generated from the incoming images, from which the visual qualities of the objects to be analyzed are extracted. Control signals are sent to each robot, wirelessly, to generate the required movements in the system. The presented algorithm was tested with a team of similar wheeled robots, efficiently identifying each robot and the position error between each one and the position assigned by the high-level controller.
Keywords: Visual servoing control, wheeled mobile robot, artificial vision, homograph