Homography-based tracking control for mobile robot

Carlos Soria, Pablo Lizardo Pari Pinto, Ricardo Carelli, José M. Sebastián

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robot's position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the proposed vision-based tracking control system.

Original languageEnglish
Title of host publication2007 IEEE International Symposium on Intelligent Signal Processing, WISP
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Symposium on Intelligent Signal Processing, WISP - Alcala de Henares, Spain
Duration: 3 Oct 20075 Oct 2007

Publication series

Name2007 IEEE International Symposium on Intelligent Signal Processing, WISP

Conference

Conference2007 IEEE International Symposium on Intelligent Signal Processing, WISP
Country/TerritorySpain
CityAlcala de Henares
Period3/10/075/10/07

Keywords

  • Mobile robots
  • Nonlinear systems
  • Tracking
  • Vision systems

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