INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Switching Visual Servoing Approach for Stable Corridor Navigation
Autor/es:
MARCOS TOIBERO; CARLOS SORIA; FLAVIO ROBERTI; RICARDO CARELLI
Lugar:
Bahía Blanca, Argentina
Reunión:
Jornada; V Jornadas Argentinas de Robotica, JAR2008; 2008
Institución organizadora:
Universidad Nacional del Sur
Resumen:
This paper presents a novel image-based strat egy for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are presented: 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 con- cepts. Next, it is proposed a switching approach in order to obtain a new controller with better performance when compared with both previous controllers acting alone. The stability at switching times is proved by considering Multiple Lyapunov Functions.
