Visual servo control of mobile robot using conic sensor

A great deal to works concerning visual serving have been effected on manipulator-robots, but little works have been realized on mobile robots. In this paper, we present a localization method and propose to describe the control developed for a mobile robot equipped with omnidirectional visual sensor, in order to pass through doors, corridors, or to position it by a reference system. This control is a vision-based control which uses only the visual variables as control input variables. We present simulation results of this application.