Image feature based navigation of nonholonomic mobile robots with active camera

@article{Hirukawa2007ImageFB,
  title={Image feature based navigation of nonholonomic mobile robots with active camera},
  author={Takuto Hirukawa and Satoshi Komada and Junji Hirai},
  journal={SICE Annual Conference 2007},
  year={2007},
  pages={2502-2506}
}
This paper proposes an image feature based navigation method for active camera mounted mobile robots that are affected by nonholonomic constraint. Since visual servo used for usual manipulators can't be applied to the nonholonomic mobile robots as it is, visual servo is applied to tracking control of the active camera to track targets in the center of image plane. Moreover, posture of nonholonomic mobile robots from targets is controlled by image features of targets that are related to relative… CONTINUE READING
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