Epipole-based visual servoing for nonholonomic mobile robots

被引：11
|
作者：
Mariottini, GL [1 ]
Prattichizzo, D [1 ]
Oriolo, G [1 ]
机构：
[1] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307198
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new image-based visual servoing algorithm is presented for nonholonomic mobile robots. The algorithm, based on epipolar geometry, consists of three independent and sequential steps making use of both the estimated epipoles and the image features. In particular, due to the nonlinear dynamics of the camera-robot system, an input-output feedback linearizing control law is used during the second step. Simulations results are presented to validate the proposed visual servoing technique.
引用
收藏
页码：497 / 503
页数：7
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