Abstract 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.
Mobile Robot Navigation As A Planar Visual Servoing Problem
2003-01-01
12 pages
Article/Chapter (Book)
Electronic Resource
English
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