The image processing handbook (2nd ed.)
The image processing handbook (2nd ed.)
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Robotics and Autonomous Systems
Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
Image and Vision Computing
Tracking under the nonholonomic constraint using cubic navigation laws
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Fuzzy embedded mobile robot systems design through the evolutionary PSO learning algorithm
WSEAS TRANSACTIONS on SYSTEMS
Pseudo-continuous multi-dimensional multi-mode systems
Discrete Event Dynamic Systems
The study of a vision-based pedestrian interception system
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
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A novel vision-based scheme is presented for driving a nonholonomic mobile robot to intercept a moving target. The proposed method has a two-level structure. On the lower level, the pan-tilt platform carrying the on-board camera is controlled so as to keep the target as close as possible to the center of the image plane. On the higher level, the relative position of the target is retrieved from its image coordinates and the camera pan-tilt angles through simple geometry, and used to compute a control law which drives the robot to the target. Various possible choices are discussed for the high-level robot controller, and the associated stability properties are rigorously analysed. The proposed visual interception method is validated through simulations as well as experiments on the mobile robot MagellanPro.