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Pose Estimation for Nonlinear Visual Servo Control of an Omnidirectional Platform

Abstract:

This paper developed a nonlinear visual servo control using the reverse kinematic model of the omnidirectional platform with mecanum wheels for trajectory tracking using visual feedback for pose estimation based on binary markers. Control actions are sent from the computer to the platform using a wireless communication channel (Zigbee Protocol). The experimental results obtained show that the errors converge asymptotically to values close to zero, demonstrating that the proposed controller works correctly and responds adequately to external disturbances.