Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

October 2003


Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Sytems (IROS 2003), Volume 1, pages 743-748.
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In this paper the problem of controlling the motion of a nonholonomic vehicle along a desired trajectory using observations from an overhead camera is considered. The control problem is formulated in the image plane. We show that the system in the image plane is differentially flat and use this property to generate effective control strategies using only visual feedback. Simulation results illustrate the methodology and show robustness to errors in the camera calibration parameters.



Date Posted: 15 November 2004

This document has been peer reviewed.