Featureless omnidirectional vision-based control of non-holonomic mobile robot

This paper proposes featureless algorithms to address complex maneuvers for non-holonomic mobile robots. Using a single omnidirectional camera, the robot reaches the target position using an omnidirectional photometric visual servoing algorithm that simultaneously controls translation and rotation. Evaluation of the positioning task was performed on eight different positions on a circle and the error between the final position and the target one is measured.