Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints

  title={Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints},
  author={Gonzalo L{\'o}pez-Nicol{\'a}s and Nicholas R. Gans and Sourabh Bhattacharya and Carlos Sag{\"u}{\'e}s and Josechu J. Guerrero and Seth Hutchinson},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography… CONTINUE READING
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