A Stable Vision-Based Control Scheme for Nonholonomic Vehicles to Keep a Landmark in the Field of View

Control of wheeled vehicles is a difficult problem due to nonholonomic constraints. This problem is compounded by sensor limitations. A previously developed control scheme for a wheeled robot, which keeps a target in the view of a mounted camera, is one solution to the problem. In this paper, we prove the controllability and stability of the control scheme. We present an implementation of the controller, as well as present the results of simulations and physical experiments.