Image-Based Control of Two Mobile Robots for Object Pushing

Gonzalo López-Nicolás; Erol Özgür; Youcef Mezouar

IROS 2015poster6 citations

Image-Based Control of Two Mobile Robots for Object Pushing

Gonzalo López-Nicolás, Erol Özgür, Youcef Mezouar

Abstract

This paper shows how to push an unknown object in the plane from an initial pose to a target pose with two cooperating mobile robots. On the object motion, we deliberately impose non-holonomic velocity constraint with pushing mobile robots. This yields smooth and efficient trajectories. Pushing manipulation is performed, for the first time, with a new uncalibrated image-based control scheme. This is achieved by transforming the image information to a scaled Euclidean space without using any metric information or calibration. Stability of the control law is also demonstrated.

BibTeX

@inproceedings{iros2015_imagebasedcontro,
  title = {Image-Based Control of Two Mobile Robots for Object Pushing},
  author = {Gonzalo López-Nicolás and Erol Özgür and Youcef Mezouar},
  booktitle = {IROS 2015},
  year = {2015}
}