Vision-based exponential stabilization of mobile robots

Authors:
G. López-Nicolás;C. Sagüés
Affiliations:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain;Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain
Venue:
Autonomous Robots
Year:
2011

Citing 15
Cited 1

Visual Homing: Surfing on the Epipoles

International Journal of Computer Vision
2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement

International Journal of Computer Vision - Special issue on image-based servoing
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography

Communications of the ACM
Learning View Graphs for Robot Navigation

Autonomous Robots - Special issue on autonomous agents
Multiple View Geometry in Computer Vision

Multiple View Geometry in Computer Vision
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing

IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Homing by Exploiting Panoramic Vision

Autonomous Robots
Switching visual control based on epipoles for mobile robots

Robotics and Autonomous Systems
Indoor navigation of a non-holonomic mobile robot using a visual memory

Autonomous Robots
An iterative image registration technique with an application to stereo vision

IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Parking with the essential matrix without short baseline degeneracies

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual Servoing via Advanced Numerical Methods

Visual Servoing via Advanced Numerical Methods
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Homography-based visual servo tracking control of a wheeled mobile robot

IEEE Transactions on Robotics
Homography-based visual servo regulation of mobile robots

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Angle-based homing from a reference image set using the 1D trifocal tensor

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

A new smooth closed loop time invariant control law is proposed for the exponential stabilization of mobile robots with nonholonomic motion constraints. The control scheme relies solely on visual information and includes an observer for the system state estimation by means of the essential matrix. The problem of model degeneracies due to short baseline is solved with the definition of a virtual target that provides a stable estimation of the essential matrix. The novelty of this paper lies in the new vision-based control scheme with state observer which is robust, ensuring convergence to the target location. The stability of the system under the proposed control law is demonstrated and experimental results show the goodness of the approach.