An image-based visual servoing scheme for following paths with nonholonomic mobile robots

Andrea Cherubini 1, 2 François 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 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.
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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. ⟨inria-00351859⟩

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