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Mobile robot navigation as a planar visual servoing problem

Corke, Peter (2001) Mobile robot navigation as a planar visual servoing problem. In Jarvis, R. A & Zelinsky, A (Eds.) Preprints of 10th International Symposium on Robotics Research ISRR 2001, Lorne, Victoria, Australia, pp. 217-223.

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.

Impact and interest:

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ID Code: 33877
Item Type: Conference Paper
Additional Information: Also available in Springer Tracts in Advanced Robotics, STAR, Robotic Research, 2003, Volume 6/2003, 361-372
Keywords: mobile robot, navigation, planar visual servoing
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2001 [please consult author]
Deposited On: 07 Oct 2010 11:58
Last Modified: 03 Mar 2011 15:47

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