Homography-Based Tracking Control for Mobile Robots

Soria, Carlos and Pari Pinto, Pablo Lizardo and Carelli, Ricardo and Sebastian y Zuñiga, Jose Maria and Traslosheros Michel, Alberto (2008). Homography-Based Tracking Control for Mobile Robots. In: "5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)", 25/06/2008-27/06/2008, Póvoa de Varzim, Portugal. ISBN 978-3-540-69811-1.

Description

Title: Homography-Based Tracking Control for Mobile Robots
Author/s:
  • Soria, Carlos
  • Pari Pinto, Pablo Lizardo
  • Carelli, Ricardo
  • Sebastian y Zuñiga, Jose Maria
  • Traslosheros Michel, Alberto
Item Type: Presentation at Congress or Conference (Article)
Event Title: 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Event Dates: 25/06/2008-27/06/2008
Event Location: Póvoa de Varzim, Portugal
Title of Book: Proceedings of 5th Internacional Conference on Image Analysis and Recognition (ICIAR 2008)
Date: 2008
ISBN: 978-3-540-69811-1
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

More information

Item ID: 3655
DC Identifier: http://oa.upm.es/3655/
OAI Identifier: oai:oa.upm.es:3655
Official URL: http://www.springerlink.com/content/b324210750w40789/
Deposited by: Memoria Investigacion
Deposited on: 05 Apr 2011 08:16
Last Modified: 20 Apr 2016 13:10
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