%0 Conference Proceedings %F Cherubini08a %A Cherubini, A. %A Chaumette, F. %A Oriolo, G. %T An image-based visual servoing scheme for following paths with nonholonomic mobile robots %B Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008 %P 108-113 %C Hanoi, Vietnam %X 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 %U http://rainbow-doc.irisa.fr/pdf/2008_icarcv_cherubini.pdf %8 December %D 2008