Vision-based dynamic estimation and set-point stabilization of nonholonomic vehicles

A nonhonolomic vehicle is stabilized to a desired pose through a visual servoing technique. The vision-based regulation of the nonholonomic vehicle proposed is built through a discontinuous change of coordinates and Lyapunov-based design, which ensure asymptotic stability of the closed-loop visual system. A dynamic estimation procedure, based on the optical flow equations, is also presented to deal with uncertainties in the obsereved environment. Simulations results on an autonomous mobile robot are reported, that show the practicality of the proposed approach.