We present an image-based visual servoing controller 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. A Lyapunov-based stability analysis is carried out. The performance of the controller is validated and compared by simulations and experiments on a car-like robot equipped with a pinhole camera. © 2008 IEEE.
An image-based visual servoing scheme for following paths with nonholonomic mobile robots / Andrea, Cherubini; Francois, Chaumette; Oriolo, Giuseppe. - (2008), pp. 108-113. (Intervento presentato al convegno 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 tenutosi a Hanoi nel 17 December 2008 through 20 December 2008) [10.1109/icarcv.2008.4795501].
An image-based visual servoing scheme for following paths with nonholonomic mobile robots
ORIOLO, Giuseppe
2008
Abstract
We present an image-based visual servoing controller 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. A Lyapunov-based stability analysis is carried out. The performance of the controller is validated and compared by simulations and experiments on a car-like robot equipped with a pinhole camera. © 2008 IEEE.| File | Dimensione | Formato | |
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