Visual servoing for path reaching with nonholonomic robots

  • Authors:

  • Andrea Cherubini;François Chaumette;Giuseppe Oriolo

  • Affiliations:

  • Inria rennes-bretagne atlantique, campus de beaulieu, 35042 rennes, france. e-mail: chaumette@irisa.fr;Inria rennes-bretagne atlantique, campus de beaulieu, 35042 rennes, france. e-mail: chaumette@irisa.fr;Dipartimento di informatica e sistemistica, università di roma

  • Venue:
  • Robotica
  • Year:
  • 2011

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Abstract

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.