Skip to Main content Skip to Navigation
New interface
Journal articles

Visual servoing for path reaching with nonholonomic robots

Andrea Cherubini 1, 2 F. Chaumette 1 G. Oriolo 2 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : We present two visual servoing controllers (pose-based and image-based) en- abling mobile robots with a fixed pinhole camera to reach and follow a contin- uous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Thirdly, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme, and three in the pose-based scheme. For both controllers, a conver- gence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.
Document type :
Journal articles
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, November 9, 2011 - 4:56:33 PM
Last modification on : Saturday, November 26, 2022 - 6:41:23 AM
Long-term archiving on: : Friday, February 10, 2012 - 2:35:58 AM


Files produced by the author(s)


  • HAL Id : hal-00639659, version 1


Andrea Cherubini, F. Chaumette, G. Oriolo. Visual servoing for path reaching with nonholonomic robots. Robotica, 2011, 29 (7), pp.1037-1048. ⟨hal-00639659⟩



Record views


Files downloads