DocumentCode
1999563
Title
Image-based path following for nonholonomic mobile robot
Author
Khelloufi, Abdellah ; Ouadah, Noureddine ; Djekoune, A. Oualid ; Achour, Nouara
Author_Institution
Centre de Dev. des Technol. Av., Algiers, Algeria
fYear
2015
fDate
25-27 May 2015
Firstpage
1
Lastpage
6
Abstract
This paper presents an image-based path following task for a nonholonomic mobile robot using visual line features. To perform this task, the robot has to keep the features in his field of view. For this purpose, an image-based visual servo controller using task function formalism is developed to control the robot motion. The proposed controller is implemented on carlike robot and evaluated through real experiments.
Keywords
mobile robots; motion control; path planning; robot vision; visual servoing; carlike robot; image-based path following; image-based visual servo controller; nonholonomic mobile robot; robot motion control; task function formalism; visual line feature; Cameras; Feature extraction; Mobile robots; Robot kinematics; Robot vision systems; Visualization; Image based navigation; Nonholonomic mobile robot; Visual path following; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Engineering & Information Technology (CEIT), 2015 3rd International Conference on
Conference_Location
Tlemcen
Type
conf
DOI
10.1109/CEIT.2015.7233093
Filename
7233093
Link To Document