Real-time vision-based control of a nonholonomic mobile robot
Arindam Das, Rafael Fierro, Vijay Kumar, Ben Southall, John R. Spletzer, Camillo Jose Taylor · 2002
This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.