A visual servo controller is developed for a monocular camera system mounted on a
wheeled mobile robot (WMR), which simultaneously solves the tracking and regulation
control problems. A prerecorded image sequence (eg, a video) or single image of four target
points is used to define a desired trajectory or desired fixed position and orientation for the
WMR. By comparing the target points from a stationary reference image with the
corresponding target points in the live image and the prerecorded sequence of images …

The problem of unified tracking and regulation visual servo control is addressed in this
paper, for a wheeled mobile robot (WMR) equipped with a single monocular camera system.
The desired trajectory or desired fixed position and orientation are defined using a
prerecorded image sequence (ie, a video) or a single image (ie, a snapshot) of four feature
points. Euclidean homographies are developed by exploiting the projective geometric
relationships that exist between the feature points in the live image and the prerecorded …