Visual Servo-Based Control of Mobile Robots for Opening Doors

摘要

Fingerprint lock cannot work effectively in the case of finger cut or desquamating. Besides, the structure of electronic locks is different from most wooden doors' and security doors', and it is also too time-consuming and laborious to change the existing structures. This paper presents a method of opening the door by a mobile robot at home. The robot receives wireless commands and calls the door fixed camera to capture a photo of the visitor. After that, it makes a visual servo based path planning after the verification of the visitor autonomously, then moves from a certain place to the interior door and opens the door. The mobile robot consists of a fixed base 4 degrees of freedom manipulator and a camera. This article focuses on the extraction of work space of the robot, path planning, face recognition, lock positioning, and robotic motion control. Using visual C++ development environment and image processing technology, a controller of the mobile robot to open the door is proposed, the effectiveness of the proposed method is also demonstrated through experiments.