Vision-guided feedback control of a mobile robot with compressive measurements and side information

Sourabh Bhattacharya, Garrett Warnell, Rama Chellappa, Tamer Başar

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

Abstract

In this work, we present feedback control laws for vision guided navigation of a mobile robot. The robot is modeled as a cart that can move along a straight line, and has two vision sensors onboard. The primary vision sensor is a high resolution single-pixel camera (SPC), based on principles of compressive sensing, for capturing images. Additionally, there is a low-resolution sensor that provides coarse measurements. In this work, we consider a simple scenario in which the target is modeled as a straight line segment on a plane. The main contribution of this work is the formulation of control laws directly from the compressed measurements, obtained from the SPC. Therefore, the reconstruction of the target image is sidestepped, leading to a reduction in the amount of data acquired for control.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages97-102
Number of pages6
ISBN (Print)9781479932726
DOIs
StatePublished - Jan 1 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period6/4/146/6/14

Keywords

  • Emerging control applications
  • Emerging control theory
  • Vision-based control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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