This paper presents a vision-based control framework that attempts to mitigate several shortcomings of current approaches to mobile navigation, including the requirement for detailed 3D maps. The framework defines potential fields in image space and uses a subsumption process to combine hard, physical constraints with soft, guidance constraints while guaranteeing that hard constraint information is preserved. In addition, this representation can be defined with constant size, which can enable strong run-time guarantees to be made for visual servoing-based control. The framework is demonstrated with proof-of-concept examples in simulation and the real world, as well as data sets and an open source implementation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Visual Servoing for Mobile Ground Navigation


    Contributors:


    Publication date :

    2018-08-01


    Size :

    2032398 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    3D ultrasound registration-based visual servoing for neurosurgical navigation.

    Zettinig, Oliver / Frisch, Benjamin / Virga, Salvatore et al. | BASE | 2018

    Free access

    PATTERN TRACKING AND VISUAL SERVOING FOR INDOOR MOBILE ROBOT ENVIRONMENT MAPPING AND AUTONOMOUS NAVIGATION

    Aider, O. A. / Blanc, G. / Mezouar, Y. et al. | British Library Conference Proceedings | 2006


    Visual Servoing Systems

    Copot, Cosmin / Ionescu, Clara Mihaela / Muresan, Cristina I. | Springer Verlag | 2020


    Convoying of Heterogeneous Mobile Robots using Visual Servoing

    Marapane, S. B. / Trivedi, M. M. / Holder, M. | British Library Conference Proceedings | 1994