From optimal planning to visual servoing with limited FOV

Paolo Salaris, Lucia Pallottino, Seth Hutchinson, Antonio Bicchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an optimal feedback control scheme to drive a vehicle equipped with a limited Field-Of-View (FOV) camera towards a desired position following the shortest path and keeping a given landmark in sight. Based on the shortest path synthesis available from previous works, feedback control laws are defined for any point on the motion plane exploiting geometric properties of the synthesis itself. Moreover, by using a slightly generalized stability analysis setting, which is that of stability on a manifold, a proof of stability is given. Reported simulations demonstrate the effectiveness of the proposed technique.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2817-2824
Number of pages8
DOIs
StatePublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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