| ID | 30018 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| 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 |
| Keywords | closed loop systems
feedback
mobile robots
nonlinear control systems
path planning
position control
robot dynamics
robot kinematics
robot vision
servomechanisms
|
| Note | Digital Object Identifier: 10.1109/ROBOT.1997.614394
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, 20-25 April 1997, Vol. 2, Pages 1719-1724. Publisher URL:http://dx.doi.org/10.1109/ROBOT.1997.614394 Copyright © 1997 IEEE. All rights reserved. |
| Published Date | 1997-4
|
| Publication Title |
Robotics and Automation
|
| Volume | volume2
|
| Start Page | 1719
|
| End Page | 1724
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/93
|
