Visual servoing for path reaching with nonholonomic robots - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Robotica Year : 2011

Visual servoing for path reaching with nonholonomic robots


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.
Fichier principal
Vignette du fichier
2011_robotica_cherubini.pdf (3.46 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00639659 , version 1 (09-11-2011)


  • 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⟩
321 View
327 Download


Gmail Facebook X LinkedIn More