Bibliographic Details
| Title: |
Integrating Visual Perception and Control Strategies in Custom Omnidirectional Mobile Robots. |
| Authors: |
Roșca, Radu-Laurențiu, Iancu, Andrei-Iulian, Burlacu, Adrian, Dosoftei, Cătălin |
| Source: |
Sensors (14248220); Jun2026, Vol. 26 Issue 12, p3918, 15p |
| Subject Terms: |
Visual perception, Robot control systems, Stereoscopic cameras, Industrial robots, Mobile robots, Robotics software |
| Abstract: |
Autonomous mobile robots are used in optimizing warehouse logistics, yet achieving precise positioning during docking maneuvers and autonomous planning remains a technical challenge. This study presents a custom vision-based control system designed for an autonomous omnidirectional wheeled robot. The proposed methodology acquires visual feedback using a stereo camera integrated within the Robot Operating System framework. Two visual feedback control laws are formulated and rigorously evaluated: a Classic Position-Based Visual Servoing algorithm, which minimizes pose error using a quaternion-based approach, and a second solution that utilizes Dual Lie Algebra to compute the 3D visual sensor's velocities, ensuring convergence towards the desired point-feature configuration. Experimental validation reveals that while both methods achieve docking, the dual pose-free approach enables more robust, effortless movement of the robot platform than Classic Position-Based Visual Servoing. Consequently, these findings indicate that integrating depth-based feature recovery with advanced algebraic strategies offers a stable control strategy for automated industrial scenarios. [ABSTRACT FROM AUTHOR] |
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| Database: |
Complementary Index |