Discrete Control for Visual Servoing the ODIS Robot to Parking Lot Lines

This paper contains 3 new contributions to our previous work: First, a continuous visual servoing model for the ODIS omni-directional robot is extended to consider rotation about the robot center, instead of the camera center. This is shown to lead to an undesirable limit cycle due to a Hopf bifurcation. Second, 2 new discrete controllers and models for visual servoing ODIS are derived, which are closer to the servoing methods used in experiments. It is shown that the resulting closed-loop systems are locally asymptotically stable. Finally, experiments are presented which demonstrate successful discrete visual servoing.