Reviews of Vision-Based Servoing Control Techniques for Mobile Robots

This article gives a patent review of mobile robot control technologies based on vision. It describes the four categories of vision-based robot control: position-based, image-based, hybrid, and motion-based control schemes. The family tree of mobile robot control technologies is given with corresponding explanation that includes independent control, centralized/decentralized control, torque control, force control, hybrid position/force control, and impedance control. The following issues are elaborated: multiple unmanned vehicle techniques, collective control of mobile robots using vision, visual servo control, and vision-based tracking control.