Visual servoing of nonholonomic cart

Koichi Hashimoto, Toshiro Noritsugu

Research output: Contribution to journalConference articlepeer-review

35 Citations (Scopus)


This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An image-based controller which linearizes the dynamics is proposed. Since the positions of the cues in the image plane are controlled directly, possibility of missing cues is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme. Experiments on a radio controlled car with a CCD camera are also given.

Original languageEnglish
Pages (from-to)1719-1724
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1997 Jan 1
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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