We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.

Visual servoing for path reaching with nonholonomic robots / Andrea, Cherubini; Chaumette, Francois; Oriolo, Giuseppe. - In: ROBOTICA. - ISSN 0263-5747. - 29:7(2011), pp. 1037-1048. [10.1017/s0263574711000221]

Visual servoing for path reaching with nonholonomic robots

ORIOLO, Giuseppe
2011

Abstract

We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.
2011
automation; control of robotic systems; mobile robots; navigation; visual servoing
01 Pubblicazione su rivista::01a Articolo in rivista
Visual servoing for path reaching with nonholonomic robots / Andrea, Cherubini; Chaumette, Francois; Oriolo, Giuseppe. - In: ROBOTICA. - ISSN 0263-5747. - 29:7(2011), pp. 1037-1048. [10.1017/s0263574711000221]
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