Visual Feedback Control of Cart based on Path Planning in Image Plane.

摘要

This paper presents a visual feedback control scheme for nonholonomic wheeled robots. The visual servo controller guides the robot to the goal by observing the feature points in the environment. The feature points are controlled directly in the image plane by using an image-based controller. Thus the possibility of missing the feature points is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme and experiments on a radio controlled car with a CCD camera are also given.