A position-based visual servoing scheme for following paths with nonholonomic mobile robots

We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance of our control design is experimentally validated on a car-like robot equipped with a pinhole camera.