Switching visual servoing approach for stable corridor navigation

This paper presents a novel image-based controller for the visual servoing of mobile robots navigating in corridors. Two strategies based on perspective line detection are considered: an image-based approach and a position-based approach. Both are fully described including stability analysis and experimental results on real robots, discussing limitations and benefits of each approach supporting the experimental results with theoretical concepts. Next, it is proposed a stable 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.