%0 Journal Article 
%F Cherubini11b
%A Cherubini, A.
%A Chaumette, F.
%A Oriolo, G.
%T Visual servoing for path reaching with nonholonomic robots
%J Robotica
%V 	 29
%N 7
%P 1037-1048
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2011_robotica_cherubini.pdf
%U http://dx.doi.org/10.1017/S0263574711000221
%8 December
%D 2011