Cherubini11b
A. Cherubini, F. Chaumette, G. Oriolo. Visual servoing for path reaching with nonholonomic robots. Robotica, 29(7):1037-1048, December 2011.
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Abstract
We present two visual servoing controllers (pose-based and image-based) en- abling mobile robots with a fixed pinhole camera to reach and follow a contin- uous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Thirdly, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme, and three in the pose-based scheme. For both controllers, a conver- gence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot
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BibTex Reference
@article{Cherubini11b,
Author = {Cherubini, A. and Chaumette, F. and Oriolo, G.},
Title = {Visual servoing for path reaching with nonholonomic robots},
Journal = {Robotica},
Volume = { 29},
Number = {7},
Pages = {1037--1048},
Month = {December},
Year = {2011}
}
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