Mobile robot navigation as a planar visual servoing problem

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Mobile robot navigation as a planar visual servoing problem

Authors
Publisher
Springer Berlin / Heidelberg
Keywords
  • Navigation
  • Mobile Robot
  • 090600 Electrical And Electronic Engineering
  • 090602 Control Systems Robotics And Automation
  • Planer Visual Servoing

Abstract

This paper demonstrates some interesting connections between the hitherto disparate fields of mobile robot navigation and image-based visual servoing. A planar formulation of the well-known image-based visual servoing method leads to a bearing-only navigation system that requires no explicit localization and directly yields desired velocity. The well known benefits of image-based visual servoing such as robustness apply also to the planar case. Simulation results are presented.

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