Abstract
In this paper a visual controller based on the image-jacobian-matrix is proposed and used to navigate a mobile platform. Due to the non-holonomic constraints of our mobile platform the visual servoing cannot be applied directly to a camera fixed on the vehicle. So, the visual controller has to be supported by an additional trajectory generation. While the platform moves the visual controller is continuously calculating better goal-poses for the platform. The additional trajectory generation ensures that the mobile platform is guided on a resulting trajectory to its desired goal-pose. This new method is tested with the real system and the results are shown in this paper.
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