DocumentCode
2910715
Title
An image-based visual servoing scheme for following paths with nonholonomic mobile robots
Author
Cherubini, Andrea ; Chaumette, François ; Oriolo, Giuseppe
Author_Institution
INRIA / IRISA, Rennes
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
108
Lastpage
113
Abstract
We present an image-based visual servoing controller 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.
Keywords
Lyapunov methods; feature extraction; mobile robots; path planning; robot vision; visual servoing; Lyapunov-based stability analysis; feature extraction; image-based visual servoing scheme; nonholonomic mobile robots; Cameras; Error correction; Mobile robots; Navigation; Orbital robotics; Robot control; Robot vision systems; Robotics and automation; Stability analysis; Visual servoing; Visual servoing; nonholonomic mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location
Hanoi
Print_ISBN
978-1-4244-2286-9
Electronic_ISBN
978-1-4244-2287-6
Type
conf
DOI
10.1109/ICARCV.2008.4795501
Filename
4795501
Link To Document