Referenced Items are not available for this document.
We present an image-based visual servoing controller 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.
Published in:
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Date of Conference: 17-20 Dec. 2008
- Page(s):
- 108 - 113
- E-ISBN :
- 978-1-4244-2287-6
- Print ISBN:
- 978-1-4244-2286-9
- INSPEC Accession Number:
- 10479313
- Conference Location :
- Hanoi
- Digital Object Identifier :
- 10.1109/ICARCV.2008.4795501
- Product Type:
- Conference Publications
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