Experiments in visual feedback control of a wheeled mobile robot

An experimental study is presented on vision-based feedback control methods for the nonholonomic wheeled mobile robot SuperMARIO. The robot posture is measured via a camera fixed on the ceiling of an indoor environment. To this end, a simple localization algorithm has been developed. Performance on trajectory following and parking tasks is compared under different controllers and using either odometric or visual feedback. The improvement with the latter is obtained at the expense of a limited increase in sampling time.