Position-based visual servo control of leader-follower formation using image-based relative pose and relative velocity estimation

Authors:
A. P. Dani;N. Gans;W. E. Dixon
Affiliations:
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL;National Research Council and Air Force Research Laboratory, Egline AFB, FL;Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

A position-based visual servo control strategy is proposed for leader-follower formation control of unmanned ground vehicles (UGVs). The proposed control law only requires the knowledge of a single known length on the leader. The relative pose and the relative velocity of the leader are estimated with respect to the follower in the follower reference frame. The relative pose and the relative velocity are obtained using a geometric pose estimation technique and a nonlinear velocity estimation strategy, respectively. A Lyapunov analysis indicates global asymptotic tracking of the leader vehicle, and simulation results are provided to illustrate the performance of the developed controller.