Skip to main content
    • Aa
    • Aa
  • Get access
    Check if you have access via personal or institutional login
  • Cited by 13
  • Cited by
    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    Pasteau, François Narayanan, Vishnu K. Babel, Marie and Chaumette, François 2016. A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair. Robotics and Autonomous Systems, Vol. 75, p. 28.

    Babel, Marie Pasteau, Francois Guegan, Sylvain Gallien, Philippe Nicolas, Benoit Fraudet, Bastien Achille-Fauveau, Sophie and Guillard, Daniel 2015. 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO). p. 1.

    Mazuran, Mladen Sprunk, Christoph Burgard, Wolfram and Tipaldi, Gian Diego 2015. 2015 IEEE International Conference on Robotics and Automation (ICRA). p. 2780.

    Becerra, Héctor M. Sagüés, Carlos Mezouar, Youcef and Hayet, Jean-Bernard 2014. Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint. Autonomous Robots, Vol. 37, Issue. 2, p. 137.

    de Lima, Danilo Alves and Victorino, Alessandro Correa 2014. 17th International IEEE Conference on Intelligent Transportation Systems (ITSC). p. 412.

    Kang, Yue de Lima, Danilo Alves and Correa Victorino, Alessandro 2014. The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent. p. 485.

    Kang, Yue de Lima, Danilo Alves and Victorino, Alessandro Correa 2014. 2014 IEEE Intelligent Vehicles Symposium Proceedings. p. 304.

    Li, Luyang Liu, Yun-Hui and Wang, Kai 2014. Trajectory Tracking of Nonholonomic Mobile Robots Using a Vision-based Adaptive Algorithm for Position and Velocity Estimation. IFAC Proceedings Volumes, Vol. 47, Issue. 3, p. 10236.

    Wang, Kai Liu, Yunhui and Li, Luyang 2014. Visual Servoing Trajectory Tracking of Nonholonomic Mobile Robots Without Direct Position Measurement. IEEE Transactions on Robotics, Vol. 30, Issue. 4, p. 1026.

    Aranda, M. López-Nicolás, G. and Sagüés, C. 2013. Sinusoidal input-based visual control for nonholonomic vehicles. Robotica, Vol. 31, Issue. 05, p. 811.

    Pasteau, Francois Babel, Marie and Sekkal, Rafiq 2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 590.

    Vona, Marsette and NH, Shekar 2013. Teaching Robotics Software With the Open Hardware Mobile Manipulator. IEEE Transactions on Education, Vol. 56, Issue. 1, p. 42.

    Zhang, Xuebo Fang, Yongchun and Sun, Ning 2013. Visual servoing of mobile robots for posture stabilization: from theory to experiments. International Journal of Robust and Nonlinear Control, p. n/a.


Visual servoing for path reaching with nonholonomic robots

  • Andrea Cherubini (a1), François Chaumette (a1) and Giuseppe Oriolo (a2)
  • DOI:
  • Published online: 11 April 2011

We present two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground. The first contribution is the theoretical and experimental comparison between pose-based and image-based techniques for a nonholonomic robot task. Moreover, our controllers are appropriate not only for path following, but also for path reaching, a problem that has been rarely tackled in the past. Finally, in contrast with most works, which require the path geometric model, only two path features are necessary in our image-based scheme and three in the pose-based scheme. For both controllers, a convergence analysis is carried out, and the performance is validated by simulations, and outdoor experiments on a car-like robot.

Corresponding author
*Corresponding author. E-mail:
Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

1.F. Bonin-Font , A. Ortiz and G. Oliver , “Visual navigation for mobile robots: A survey,” J. Intell. Robot. Syst. 53 (3), 263296 (2008).

3.J. Leonard , J. How , S. Teller , M. Berger , S. Campbell , G. Fiore , L. Fletcher , E. Frazzoli , A. Huang , S. Karaman , O. Koch , Y. Kuwata , D. Moore , E. Olson , S. Peters , J. Teo , R. Truax , M. Walter , D. Barrett , A. Epstein , K. Maheloni , K. Moyer , T. Jones , R. Buckley , M. Antone , R. Galejs , S. Krishnamurthy and J. Williams A perception-driven autonomous vehicle,” J. Field Robot. 25 (10), 727774 (2008).

4.A. A. Argyros , K. E. Bekris , S. C. Orphanoudakis and L. E. Kavraki , “Robot homing by exploiting panoramic vision,” Autono. Robots 19 (1), 725 (2005).

5.E. Royer , M. Lhuillier , M. Dhome and J.-M. Lavest , “Monocular vision for mobile robot localization and autonomous navigation,” Int. J. Comput. Vis. 74 (3), 237260 (2007).

6.D. Scaramuzza and R. Siegwart , “Appearance-guided monocular omnidirectional visual odometry for outdoor ground vehicles,” IEEE Trans. Robot., 24 (5), 10151026 (2008).

7.J. J. Guerrero , A. C. Murillo and C. Sagues , “Localization and matching using the planar trifocal tensor with bearing-only data,” IEEE Trans. Robot. 24 (2), 494501 (2008).

8.F. Chaumette and S. Hutchinson , “Visual servo control”, IEEE Robot. Autom. Mag. 13 (4), 8290 (2006) and 14(1), 109–118 (2007).

9.B. Espiau , F. Chaumette and P. Rives , “A new approach to visual servoing in robotics,” IEEE Trans. Robot. Autom. 8 (3), 313326 (1992).

11.C. Canudas de Wit , B. Siciliano and G. Bastin , eds., Theory of Robot Control, Communication and Control Engineering (Springer-Verlag, London, 1996).

14.R. Frezza , G. Picci and S. Soatto , “A Lagrangian Formulation of Nonholonomic Path following,” In: The Confluence of Vision and Control (Springer, Berlin/Heidelberg, 1998).

18.J. B. Coulaud , G. Campion , G. Bastin and M. De Wan , “Stability analysis of a vision-based control design for an autonomous mobile robot,” IEEE Trans. Robot. 22 (5), 10621069 (2006).

20.C. Wang , W. Niu , Q. Li and J. Jia , “Visual Servoing Based Regulation of Nonholonomic Mobile Robots with Uncalibrated Monocular Camera,” Proceedings of the IEEE International Conference on Control and Automation, Guangzhou, China (2007).

23.E. Marchand , F. Spindler and F. Chaumette , “ViSP for visual servoing: A generic software platform with a wide class of robot control skills,” IEEE Robot. Autom. Mag. 12 (4), 4052 (2005).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *