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.
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|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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