Design and Implementation of an Autonomous Mobile Robot for Object Delivery via Homography-Based Visual Servoing

Jung-Shan Lin, Yen-Che Hsiao and Jeih-Weih Hung ()
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Jung-Shan Lin: Department of Electrical Engineering, National Chi Nan University, No. 301, University Rd., Puli Township, Nantou County 545, Taiwan
Yen-Che Hsiao: Department of Electrical Engineering, National Chi Nan University, No. 301, University Rd., Puli Township, Nantou County 545, Taiwan
Jeih-Weih Hung: Department of Electrical Engineering, National Chi Nan University, No. 301, University Rd., Puli Township, Nantou County 545, Taiwan

Future Internet, 2025, vol. 17, issue 9, 1-17

Abstract: This paper presents the design and implementation of an autonomous mobile robot system able to deliver objects from one location to another with minimal hardware requirements. Unlike most existing systems, our robot uses only a single camera—mounted on its robotic arm—to guide both its movements and the pick-and-place process. The robot detects target signs and objects, automatically navigates to desired locations, and accurately grasps and delivers items without the need for complex sensor arrays or multiple cameras. The main innovation of this work is a unified visual control strategy that coordinates both the vehicle and the robotic arm through homography-based visual servoing. Our experimental results demonstrate that the system can reliably locate, pick up, and place objects, achieving a high success rate in real-world tests. This approach offers a simple yet effective solution for object delivery tasks and lays the groundwork for practical, cost-efficient mobile robots in automation and logistics.

Keywords: robot vision systems; robotics; manipulators; mobile robots; homography-based control; visual servoing (search for similar items in EconPapers)
JEL-codes: O3 (search for similar items in EconPapers)
Date: 2025
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