Visual servoing for path reaching with nonholonomic robots
نویسندگان
چکیده
منابع مشابه
Visual servoing for path reaching with nonholonomic robots
We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path followin...
متن کاملExtending Visual Servoing Techniques to Nonholonomic Mobile Robots
The stabilization to a desired pose of a nonholonomic mobile robot, based on visual data from a hand-eye system mounted on it, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. In this paper, we investigate the use of visual servoing techniques for their control. After brie y presenting the relevant visual servoing framewor...
متن کاملApplying Visual Servoing Techniques to Control Nonholonomic Mobile Robots
The stabilization to a desired pose of a nonholonomic mobile robot, based on visual data from a hand-eye system mounted on it, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. In this paper, we investigate the use of visual servoing techniques for their control. After brie y presenting the relevant visual servoing framewor...
متن کاملVisual servoing of nonholonomic cart
This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An imagebased controller which linearizes the dynamics is proposed. Since the positions of the cues in the imag...
متن کاملFormation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation
We consider the problem of having a team of nonholonomic mobile robots follow a desired leader-follower formation using omnidirectional vision. By specifying the desired formation in the image plane, we translate the control problem into a separate visual servoing task for each follower. We use a rank constraint on the omnidirectional optical flows across multiple frames to estimate the positio...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotica
سال: 2011
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574711000221