A stable vision-based control scheme for nonholonomic vehicles to keep a landmark in the field of view

Nicholas R. Gans; Seth A. Hutchinson

doi:10.1109/ROBOT.2007.363646

A stable vision-based control scheme for nonholonomic vehicles to keep a landmark in the field of view

Nicholas R. Gans, Seth A. Hutchinson

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

Abstract

Control of wheeled vehicles is a difficult problem due to nonholonomic constraints. This problem is compounded by sensor limitations. A previously developed control scheme for a wheeled robot, which keeps a target in the view of a mounted camera, is one solution to the problem. In this paper, we prove the controllability and stability of the control scheme. We present an Implementation of the controller, as well as present the results of simulations and physical experiments.

Original language	English (US)
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	2196-2201
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363646
State	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Online availability

10.1109/ROBOT.2007.363646

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A stable vision-based control scheme for nonholonomic vehicles to keep a landmark in the field of view. / Gans, Nicholas R.; Hutchinson, Seth A.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 2196-2201 4209410 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Gans, NR & Hutchinson, SA 2007, A stable vision-based control scheme for nonholonomic vehicles to keep a landmark in the field of view. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209410, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2196-2201, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363646

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A stable vision-based control scheme for nonholonomic vehicles to keep a landmark in the field of view

Abstract

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