Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints

Gonzalo López-Nicolás, Nicholas R. Gans, Sourabh Bhattacharya, Carlos Sagüés, Josechu J. Guerrero, Seth Hutchinson

Research output: Contribution to journalArticlepeer-review


In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results.

Original languageEnglish (US)
Article number5337950
Pages (from-to)1115-1127
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number4
StatePublished - Aug 2010
Externally publishedYes


  • Homography
  • mobile robot
  • optimal paths
  • visual control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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