Homography-based tracking control for mobile robots

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

doi:10.1007/978-3-540-69812-8_71

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings
Pages	718-728
Number of pages	11
DOIs	https://doi.org/10.1007/978-3-540-69812-8_71
State	Published - 2008
Externally published	Yes
Event	5th International Conference on Image Analysis and Recognition, ICIAR 2008 - Povoa de Varzim, Portugal Duration: 25 Jun 2008 → 27 Jun 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5112 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	5th International Conference on Image Analysis and Recognition, ICIAR 2008
Country/Territory	Portugal
City	Povoa de Varzim
Period	25/06/08 → 27/06/08

Keywords

Mobile robots
Nonlinear systems
Tracking
Visual servoing

Access to Document

10.1007/978-3-540-69812-8_71

Cite this

Soria, C., Pari Pinto, P. L., Carelli, R., Sebastián, J. M., & Traslosheros, A. (2008). Homography-based tracking control for mobile robots. In Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings (pp. 718-728). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5112 LNCS). https://doi.org/10.1007/978-3-540-69812-8_71

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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.",

keywords = "Mobile robots, Nonlinear systems, Tracking, Visual servoing",

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Soria, C, Pari Pinto, PL, Carelli, R, Sebastián, JM & Traslosheros, A 2008, Homography-based tracking control for mobile robots. in Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5112 LNCS, pp. 718-728, 5th International Conference on Image Analysis and Recognition, ICIAR 2008, Povoa de Varzim, Portugal, 25/06/08. https://doi.org/10.1007/978-3-540-69812-8_71

Homography-based tracking control for mobile robots. / Soria, Carlos; Pari Pinto, Pablo Lizardo; Carelli, Ricardo et al.

Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings. 2008. p. 718-728 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5112 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Sebastián, José M.

AU - Traslosheros, A.

PY - 2008

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N2 - 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.

AB - 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.

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KW - Nonlinear systems

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Soria C, Pari Pinto PL, Carelli R, Sebastián JM, Traslosheros A. Homography-based tracking control for mobile robots. In Image Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings. 2008. p. 718-728. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-69812-8_71

Homography-based tracking control for mobile robots

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