%0 Conference Proceedings
%F Cherubini08b
%A Cherubini, A.
%A Chaumette, F.
%A Oriolo, G.
%T A position-based visual servoing scheme for following paths with nonholonomic mobile robots
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2008
%P 1648-1654
%C Nice, France
%X We present an image-based visual servoing con- troller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller is validated and compared by simulations and experimpinhole camera
%U http://www.irisa.fr/lagadic/pdf/2008_iros_cherubini.pdf
%8 September
%D 2008