Abstract : We present an image-based visual servoing con- troller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller is validated and compared by simulations and experiments on a car-like robot equipped with a pinhole camera.
Type de document :
Communication dans un congrès
Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, Hanoi, Vietnam, France. pp.108-113, 2008
https://hal.inria.fr/inria-00351859
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 10:09:34
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:23:16
Andrea Cherubini, François Chaumette, G. Oriolo. An image-based visual servoing scheme for following paths with nonholonomic mobile robots. Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, Hanoi, Vietnam, France. pp.108-113, 2008. 〈inria-00351859〉
