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IROS
2008
IEEE

A position-based visual servoing scheme for following paths with nonholonomic mobile robots

9 years 8 months ago
A position-based visual servoing scheme for following paths with nonholonomic mobile robots
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.
Andrea Cherubini, François Chaumette, Giuse
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Andrea Cherubini, François Chaumette, Giuseppe Oriolo
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