Switched homography-based visual control of differential drive vehicles with field-of-view constraints

被引：25

作者：

Lopez-Nicolas, G. ^{[1
]}

Bhattacharya, S. ^{[2
]}

Guerrero, J. J. ^{[1
]}

Saguees, C. ^{[1
]}

Hutchinson, S. ^{[2
]}

机构：

[1] Univ Zaragoza, DIIS I3A, E-50009 Zaragoza, Spain

[2] Univ Illinois, Beckman Inst Adv Sci & Technol, Dept Elect & Comp Engn, Chicago, IL 60680 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364131

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a switched homography-based visual control for differential drive vehicles. The goal is defined by an image taken at the desired position, which is the only previous information needed from the scene. The control takes into account the field-of-view constraints of the vision system through the specific design of the paths with optimality criteria. The optimal paths consist of straight fines and curves that saturate the sensor viewing angle. We present the controls that move the robot along these paths based on the convergence of the elements of the homography matrix. Our contribution is the design of the switched homography-based control, following optimal paths guaranteeing the visibility of the target.

引用

页码：4238 / +

页数：2

共 25 条

[1]

[Anonymous], 1993, Motion and structure from image sequences

[2] Visual homing: Surfing on the epipoles [J].