Mobile Robot Navigation As A Planar Visual Servoing Problem
Mobile Robot Navigation As A Planar Visual Servoing Problem
复制标题
移动机器人导航作为平面视觉伺服问题
DOI：
10.1007/3-540-36460-9_24
复制
发表时间：
2001
影响因子：
11.1
通讯作者：
Peter Corke
中科院分区：
文献类型：
--
作者：
Peter Corke
本文展示了移动机器人导航的迄今不同领域与基于图像的Visual Servoing之间的一些有趣的联系。众所周知的基于图像的视觉伺服方法的平面公式会导致仅轴承导航系统，该系统不需要明确的定位，并且直接产生所需的速度。基于图像的视觉伺服（例如鲁棒性）的众所周知的好处也适用于平面案例。提出了仿真结果。
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.