We present a visual servoing scheme enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance of our control design is experimentally validated on a car-like robot equipped with a pinhole camera. ©2008 IEEE.
A position-based visual servoing scheme for following paths with nonholonomic mobile robots / A., Cherubini; F., Chaumette; Oriolo, Giuseppe. - (2008), pp. 1648-1654. (Intervento presentato al convegno 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS tenutosi a Nice nel 22 September 2008 through 26 September 2008) [10.1109/iros.2008.4650679].
A position-based visual servoing scheme for following paths with nonholonomic mobile robots
ORIOLO, Giuseppe
2008
Abstract
We present a visual servoing scheme enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance of our control design is experimentally validated on a car-like robot equipped with a pinhole camera. ©2008 IEEE.| File | Dimensione | Formato | |
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