By Topic

Visual Servoing Based Regulation of Nonholonomic Mobile Robots with Uncalibrated Monocular Camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Chaoli Wang ; Univ. of Shanghai for Sci. & Technol., Shanghai ; Wenbin Niu ; Qingsong Li ; Jinwei Jia

This paper investigated the visual servoing regulation of nonholonomic mobile robots. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Two-step techniques were exploited to craft a robust controller that enables the mobile robot image pose and the orientation regulation despite the lack of depth information and the lack of precise visual parameters. The most interesting feature of this paper is that the problem is discussed in the image frame and the inertial frame, which made the problem easy and useful. The stabilization of the system by using the proposed method was rigorously proved. The simulation was given to show the effectiveness of the presented controllers.

Published in:

Control and Automation, 2007. ICCA 2007. IEEE International Conference on

Date of Conference:

May 30 2007-June 1 2007