Adaptive Vision-Based Collaborative Tracking Control of An UGV via a Moving Airborne Camera: A Daisy Chaining Approach

Author

Mehta, S.S. ; Hu, G. ; Gans, N.R. ; Dixon, W.E.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Florida Univ., Gainesville, FL

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

3867

Lastpage

3872

Abstract

A cooperative visual servo tracking controller is developed in this paper with the objective to enable an unmanned ground vehicle (UGV) to follow a desired trajectory encoded as a sequence of images (i.e. a prerecorded video) utilizing the image feedback from a moving airborne monocular camera system. An innovative daisy chaining strategy is used to resolve the relative velocity between the moving airborne camera (i.e., a camera attached to a remotely piloted aircraft), the moving UGV, and the desired time varying UGV trajectory. An adaptive Lyapunov-based control strategy is employed to actively compensate for the lack of known depth measurements and the lack of an object model

Keywords

Lyapunov methods; adaptive control; image sequences; mobile robots; position control; remotely operated vehicles; robot vision; target tracking; visual servoing; adaptive Lyapunov-based control; adaptive vision-based collaborative tracking control; cooperative visual servo tracking controller; image feedback; image sequence; innovative daisy chaining strategy; moving airborne monocular camera system; time varying UGV trajectory; unmanned ground vehicle; Adaptive control; Aircraft; Cameras; Collaboration; Control systems; Feedback; Land vehicles; Programmable control; Servomechanisms; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377094

Filename

4178010