Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles

In this paper, a nonhonolonomic vehicle is stabilized to a desired pose through a wisual servoing technique. The vision-based regulation of the nonholonomic vehicle, we propose, is built through a discontinuous change of coordinates and Lyapunov-based design, which ensure asymptotic stability of the closedloop visual system. A dynamic estimation procedure, based on the optical pow equations, is also presented to deal with uncertainties in the observed environment. Simulations results on an autonomous mobile robot are reported, that show the practicality of the proposed approach.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Fabio Conticelli, Domenico Prattichizzo, Federico Guidi, Antonio Bicchi
• Keywords: Closedloop Visual System, Dynamic Estimation Procedure, ICRA 2000, Robotics, Wisual Servoing Technique