DocumentCode :
2940508
Title :
Image-based control relying on conic curves foliation for passing through a gate
Author :
Salaris, Paolo ; Vassallo, Christian ; Soueres, Philippe ; Laumond, Jean-Paul
Author_Institution :
LAAS, Toulouse, France
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
684
Lastpage :
690
Abstract :
This paper presents a geometric approach to the problem of designing visual feedback control laws to steer a nonholonomic vehicle, equipped with a fixed monocular camera, through a gate. The originality of our approach is to introduce and exploit the natural geometry induced by the presence of a gate in the environment, e.g. bundle of hyperbolae, ellipses and circles, providing stabilizing feedback control laws that steer the vehicle through the middle of the gate. Moreover, using visual servoing we prove that this geometry can be measured directly in the camera image plane. As a consequence, we provide an image-based control scheme, avoiding the use of a state observer. Simulations in a realistic scenario and experiments are provided to show the effectiveness of our feedback control laws.
Keywords :
computer vision; control system synthesis; feedback; geometry; observers; stability; visual servoing; camera image plane; circles; conic curves foliation; ellipses; fixed monocular camera; hyperbolae; image-based control scheme; natural geometry; nonholonomic vehicle; stability; state observer; visual feedback control law design; visual servoing; Cameras; Feedback control; Geometry; Robot kinematics; Robot sensing systems; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139253
Filename :
7139253
Link To Document :
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