Homography-Based Visual Control of Nonholonomic Vehicles

• Monocular visual control based on the homography matrix elements

• Nonholonomic motion constrains• Control law design by the input-output

linearization of the system• No homography decomposition or depth

estimation is needed

G. López-Nicolás, C. Sagüés and J.J. GuerreroDIIS – I3A, Universidad de Zaragoza, Spain

Robot trajectory