An image-based visual servoing scheme for following paths with nonholonomic mobile robots

Andrea Cherubini (1, 2) , François Chaumette (1) , G. Oriolo (2)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
2 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]

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.

Domaines: Robotique [cs.RO]

Andrea Cherubini, François Chaumette, G. Oriolo. An image-based visual servoing scheme for following paths with nonholonomic mobile robots. Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, Hanoi, Vietnam, France. pp.108-113. ⟨inria-00351859⟩