Abstract
This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An image-based controller which linearizes the dynamics is proposed. Since the positions of the cues in the image plane are controlled directly, possibility of missing cues is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme. Experiments on a radio controlled car with a CCD camera are also given.
| Original language | English |
|---|---|
| Pages (from-to) | 1719-1724 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - 1997 Jan 1 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering