Homography-based tracking control for mobile robots

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaImage Analysis and Recognition - 5th International Conference, ICIAR 2008, Proceedings
Páginas718-728
Número de páginas11
DOI
EstadoPublicada - 2008
Publicado de forma externa
Evento5th International Conference on Image Analysis and Recognition, ICIAR 2008 - Povoa de Varzim, Portugal
Duración: 25 jun. 200827 jun. 2008

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen5112 LNCS
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia5th International Conference on Image Analysis and Recognition, ICIAR 2008
País/TerritorioPortugal
CiudadPovoa de Varzim
Período25/06/0827/06/08

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