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

@article{Cherubini2008APV,
  title={A position-based visual servoing scheme for following paths with nonholonomic mobile robots},
  author={Andrea Cherubini and François Chaumette and Giuseppe Oriolo},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1648-1654}
}
We present a visual servoing scheme enabling non-holonomic 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… CONTINUE READING
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