DocumentCode
3089222
Title
A position-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
22-26 Sept. 2008
Firstpage
1648
Lastpage
1654
Abstract
We present a visual servoing scheme enabling non-holonomic 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. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance of our control design is experimentally validated on a car-like robot equipped with a pinhole camera.
Keywords
Lyapunov methods; feature extraction; mobile robots; path planning; stability; visual servoing; Lyapunov-based stability analysis; a visual servoing scheme; car-like robot; features extraction; fixed pinhole camera; image plane; nonholonomic mobile robots; position-based visual servoing scheme; Cameras; Control systems; Mobile robots; Pixel; Robot kinematics; Robot vision systems; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650679
Filename
4650679
Link To Document