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Conference papers
An image-based visual servoing scheme for following paths with nonholonomic mobile robots
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.
Cited literature [16 references]
https://hal.inria.fr/inria-00351859
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 10:09:34 AM
Last modification on : Friday, July 10, 2020 - 4:09:11 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:23:16 PM
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 10:09:34 AM
Last modification on : Friday, July 10, 2020 - 4:09:11 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:23:16 PM
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2008_icarcv_cherubini.pdf
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