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Homography-Based Tracking Control for Mobile Robots
Citation
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: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
