An image-based visual servoing scheme for following paths with nonholonomic mobile robots
Résumé
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.
Domaines
Robotique [cs.RO]| Origine | Fichiers éditeurs autorisés sur une archive ouverte |
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