Vision-based implementation of feedback control of unicycle robots

The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.