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Conference Papers Year : 2008

A position-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 experimpinhole camera.
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Dates and versions

inria-00351860 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00351860 , version 1

Cite

Andrea Cherubini, François Chaumette, G. Oriolo. A position-based visual servoing scheme for following paths with nonholonomic mobile robots. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2008, 2008, Nice, France, France. pp.1648-1654. ⟨inria-00351860⟩
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