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.
Mariottini, G.L., Prattichizzo, D., Oriolo, G. (2004). Epipole-based visual servoing for nonholonomic mobile robots. In Proc. IEEE International Conference on Robotics and Automation, ICRA'04 (pp.497-503). IEEE [10.1109/ROBOT.2004.1307198].
Epipole-based visual servoing for nonholonomic mobile robots
Prattichizzo D.;
2004-01-01
Abstract
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.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/31968
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo