Nonholonomic mobile robot visual servoing: a multirate digital approach
نویسنده
چکیده
A multirate strategy for the control of a nonholonomic mobile robot using a visual servoing approach is presented. Such a control is based on a mathematical model computed using two virtual image features. The proposed multirate digital control technique guarantees their presence in the camera field of view during all the robot motion. The absence of obstacles in the robot configuration space is assumed. A simulation result is presented to validate the proposed method. Key–Words: Visual servoing, Multi-rate control, Mobile robot.
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