A single visual-servo controller of mobile robots with super-twisting control

Abstract

This paper presents a novel approach for image-based visual servoing, extending the existing works that use the trifocal tensor (TT) as source for image measurements. In the proposed approach, singularities typically encountered in this kind of methods are avoided. A formulation of the TT-based control problem with a virtual target resulting from the… (More)
DOI: 10.1016/j.robot.2014.03.009

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