Homography-based visual servo tracking control of a wheeled mobile robot

  title={Homography-based visual servo tracking control of a wheeled mobile robot},
  author={Jian Chen and Warren E. Dixon and Darren M. Dawson and Michael L. McIntyre},
  journal={IEEE Transactions on Robotics},
A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing… CONTINUE READING

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