Abstract:This paper addresses the problem of visual target following for a nonholonomic wheeled mobile robot with a single fixed camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We present online trajectory planning based on image-based visual servoing. The key idea is to compensate the target object motion.In particular, we focus on visual feature motion resulting from the target object motion. Tracking control to the generated trajectory can there… Show more
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