Owing to advantages of large workspace and flexible movement, wheeled mobile robots are widely applied in industry. With vision module for environment perception, visual servoing of wheeled mobile robots has been one of the hottest research topics in robotic fields. Due to different demands for various applications and specific properties of the system, many challenges are faced for designing visual servoing control strategies. In this paper, development of visual servoing for mobile robots is elaborated in visual and control modules, respectively. The vision module along with various uncertainties are analyzed, which provides feedback signals for the servo controller, thus associating the image space with the motion space for further control. Moreover, motion controllers are devised under various constraints for different objectives, such as pose regulation and trajectory tracking. Research trends are discussed to show further focus of visual servoing of mobile robots.

由于工作空间大和运动灵活的优点，轮式移动机器人在工业中得到了广泛的应用。借助用于环境感知的视觉模块，轮式移动机器人的视觉伺服已成为机器人领域最热门的研究主题之一。由于对各种应用和系统特定属性的不同需求，设计视觉伺服控制策略面临许多挑战。在本文中，分别在视觉和控制模块中阐述了用于移动机器人的视觉伺服的开发。分析了视觉模块以及各种不确定性，这些不确定性为伺服控制器提供了反馈信号，因此将图像空间与运动空间相关联以进行进一步控制。此外，运动控制器是在各种约束下针对不同目标而设计的，例如姿势调整和轨迹跟踪。讨论了研究趋势，以显示移动机器人视觉伺服的更多焦点。