Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints

  • Authors:

  • Gonzalo López-Nicolás;Nicholas R. Gans;Sourabh Bhattacharya;Carlos Sagüés;Josechu J. Guerrero;Seth Hutchinson

  • Affiliations:

  • Department of Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain;University of Texas at Dallas, Richardson, TX;Department of Electrical and Computer Engineering, Beckman Institute for Advanced Science and Technology, University of Illinois at Urbana-Champaign, Urbana, IL;Department of Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain;Department of Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain;Department of Electrical and Computer Engineering, Beckman Institute for Advanced Science and Technology, University of Illinois at Urbana-Champaign, Urbana, IL

  • Venue:
  • IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
  • Year:
  • 2010

Quantified Score

Hi-index 0.00

Visualization

Abstract

In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homographybased methods, it does not use the homography to compute estimates of pose parameters. Instead, the control laws are directly expressed in terms of individual entries in the homography matrix. In particular, we develop individual control laws for the three path classes that define the language of optimal paths: rotations, straight-line segments, and logarithmic spirals. These control laws, as well as the switching conditions that define how to sequence path segments, are defined in terms of the entries of homography matrices. The selection of the corresponding control law requires the homography decomposition before starting the navigation. We provide a controllability and stability analysis for our system and give experimental results.