DocumentCode
3285361
Title
Cyclic pursuit with vision-assisted estimation
Author
Lili Ma ; Hovakimyan, N.
Author_Institution
Dept. of Electron. & Mech., Wentworth Inst. of Technol., Boston, MA, USA
fYear
2010
fDate
June 30 2010-July 2 2010
Firstpage
5532
Lastpage
5537
Abstract
This paper presents vision-assisted cyclic pursuit for nonholonomic vehicles without direct communication among the agents. The requirement on communication among agents is relaxed by vision-assisted estimation via a local onboard camera for each agent. A fast estimator is utilized for estimation of the other agent´s unknown time-varying velocity. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.
Keywords
cameras; mobile robots; road vehicles; robot vision; cyclic pursuit; nonholonomic vehicles; onboard camera; time-varying velocity; vision-assisted estimation; Cameras; Communication system control; Image processing; Mobile robots; Network topology; Pursuit algorithms; Robot control; Robot kinematics; Satellites; Vehicles; Cyclic pursuit; fast estimator; vision-assisted estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2010
Conference_Location
Baltimore, MD
ISSN
0743-1619
Print_ISBN
978-1-4244-7426-4
Type
conf
DOI
10.1109/ACC.2010.5531000
Filename
5531000
Link To Document