Switching visual servoing approach for stable corridor navigation

TOIBERO, J. M.; SORIA, C.; FLAVIO ROBERTI; CARELLI, R.

Bahia Blanca, Argentina

Jornada; V Jornadas Argentinas de Robótica; 2008

This paper presents a novel image-based strategy for the visual servoing of mobile robots navigating in corridors. We focus on two strategies based on perspective line detection: an image-based approach and a position- based approach for visual servoing. Both are fully described including stability analysis and experimental results on real robots,discussing limitations and bene¯ts of each approach supporting the experimental results with theoretical concepts. Finally, we propose an switching approach in order to obtain a new controller with a better performance when compared with both previous controllers acting alone. The stability at switching times is proved by considering Multiple Lyapunov Functions.