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Image-based visual control of nonholonomic mobile robots via velocity fields: Case of partially calibrated inclined camera

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3 Author(s)

This paper addresses the wheeled mobile robot guidance under fixed-camera configuration by means of image-based velocity fields. Two practical ingredients are considered in this paper: first, the image lane may not be parallel to the plane where the robot moves, and second, it is assumed only partial camera calibration; more specifically, with regard to the camera position, only its height is assumed to be known. A control system - with embedded desired velocity field - is proposed ensuring that the robot follows asymptotically the flow lines. This is proven by invoking the LaSalle's invariance principle. The effectiveness of this approach is demonstrated by experimental results

Published in:

Decision and Control, 2006 45th IEEE Conference on

Date of Conference:

13-15 Dec. 2006

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