Homography-based tracking control for mobile robots

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

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

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. 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 publicationImage Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings
Pages718-728
Number of pages11
DOIs
StatePublished - 2008
Externally publishedYes
Event5th International Conference on Image Analysis and Recognition, ICIAR 2008 - Povoa de Varzim, Portugal
Duration: 25 Jun 200827 Jun 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5112 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference5th International Conference on Image Analysis and Recognition, ICIAR 2008
Country/TerritoryPortugal
CityPovoa de Varzim
Period25/06/0827/06/08

Keywords

  • Mobile robots
  • Nonlinear systems
  • Tracking
  • Visual servoing

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