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.
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.
Citation countsare sourced monthly fromand citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|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|
Repository Staff Only: item control page