Uncalibrated Vision-Based Mobile Robot Control
Jenelle Armstrong Piepmeier, Peter A. Morgan · 2002
This article presents experimental results for vision-based mobile robot control using a fixed camera. A commercially available vision system is used to identify the robot position and a moving goal position. With little a priori knowledge, the control method estimates the system model on-line and does not require calibrated camera or mobile robot parameters. Results demonstrating the control of two very different mobile robots using the same controller highlight the flexibility of the approach.