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Visual servoing for path reaching with nonholonomic robots

Published online by Cambridge University Press:  11 April 2011

Andrea Cherubini ,
François Chaumette  and
Giuseppe Oriolo
Andrea Cherubini*
Affiliation:
INRIA Rennes - Bretagne Atlantique, Campus de Beaulieu, 35042 Rennes, France. E-mail: chaumette@irisa.fr
François Chaumette
Affiliation:
INRIA Rennes - Bretagne Atlantique, Campus de Beaulieu, 35042 Rennes, France. E-mail: chaumette@irisa.fr
Giuseppe Oriolo
Affiliation:
Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza,” Via Ariosto 25, 00185 Roma, Italy. E-mail: oriolo@dis.uniroma1.it
*
*Corresponding author. E-mail: acherubi@irisa.fr
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Summary

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 following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.

Keywords

Control of robotic systemsMobile robotsVisual servoingNavigationAutomation
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1037 - 1048
Copyright
Copyright © Cambridge University Press 2011

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