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Vision-Based Time Varying Stabilization of a Mobile Manipulator

The use of exteroceptive sensing for the stabilization of a nonholonomic mobile robot to a desired pose is considered in the present paper. Visual data, obtained from a camera mounted on the robot and tracking a known target, are used in a visual servoing scheme based on time varying exponential stabilizers, where these data are introduced directly in the control loop. We study the planar case, where the camera only pans, and present some simulation results. Invited Paper, Fourth International Conference on Control, Automation, Robotics and Vision (ICARCV'96) Westin Stamford, Singapore, December 3 6, 1996