Cherubini08a
A. Cherubini, F. Chaumette, G. Oriolo. An image-based visual servoing scheme for following paths with nonholonomic mobile robots. In Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, Pages 108-113, Hanoi, Vietnam, December 2008.
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Abstract
We present an image-based visual servoing con- troller 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
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BibTex Reference
@InProceedings{Cherubini08a,
Author = {Cherubini, A. and Chaumette, F. and Oriolo, G.},
Title = {An image-based visual servoing scheme for following paths with nonholonomic mobile robots},
BookTitle = {Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008},
Pages = {108--113},
Address = {Hanoi, Vietnam},
Month = {December},
Year = {2008}
}
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