Abstract
In this paper, we present a method which allows pose stabilization of a car-like vehicle to a learnt location based on feature bearing angle and range discrepancies between the vehicle’s current view of the environment, and that at the learnt location. We then extend the technique to include obstacle avoidance. Simulations and experimental results using our outdoor mobile platform are presented.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Usher, K., Corke, P., Ridley, P. (2006). Landmark-Based Nonholonomic Visual Homing. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_7
Download citation
DOI: https://doi.org/10.1007/10991459_7
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
eBook Packages: EngineeringEngineering (R0)