Title :
A fast vision-based road following strategy applied to the control of aerial robots
Author :
Silveira, Geraldof ; Carvalho, J. Reginaldo H ; Madrid, Marconki ; Rives, Patrick ; Bueno, Samuels
Author_Institution :
Univ. Estadual de Campinas, Sao Paulo, Brazil
Abstract :
The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the nonholonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an interaction matrix. Simulation results validating the strategy are shown
Keywords :
aircraft control; closed loop systems; computer vision; computerised navigation; mobile robots; optical tracking; remote sensing; servomechanisms; aerial robots; aerial unmanned vehicles; closed-loop control; computer vision; feedback; interaction matrix; road following tracking; visual servoing; Automatic control; Feedback; Image sensors; Jacobian matrices; Roads; Robot control; Robot sensing systems; Robot vision systems; Robotics and automation; Visual servoing;
Conference_Titel :
Computer Graphics and Image Processing, 2001 Proceedings of XIV Brazilian Symposium on
Conference_Location :
Florianopolis
Print_ISBN :
0-7695-1330-1
DOI :
10.1109/SIBGRAPI.2001.963059
