Matthew D. Berkemeier and Lili Ma
Visual servoing, discrete visual servoing, omnidirectional robot, line features
This work discusses an image-based visual servoing strategy for aligning an omnidirectional mobile robot with respect to a parking lot yellow line. The robot is equipped with a single pin-hole camera, whose vertical axis is aligned with ground vertical. The camera is assumed to be calibrated, except for its focal length. A simple proportional controller is proposed to accomplish position and orientation alignment, without resorting to an interaction matrix. Both continuous and discrete models and controllers are developed. Lyapunov-based stability analysis shows that the resulting closed-loop systems are locally asymptotically stable. Simulation and experimental results are presented to demonstrate successful visual servoing.
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