Robot navigation functions on manifolds with boundary
Advances in Applied Mathematics
Discontinuous control of nonholonomic systems
Systems & Control Letters
X Vision: a portable substrate for real-time vision applications
Computer Vision and Image Understanding
Exponentially convergent control laws for nonholonomic systems in power form
Systems & Control Letters
Computer Vision
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
IEEE Transactions on Robotics
International Journal of Robotics Research
Brief paper: Vision-based control for rigid body stabilization
Automatica (Journal of IFAC)
Hybrid Potential Field Based Control of Differential Drive Mobile Robots
Journal of Intelligent and Robotic Systems
Viability control for a class of underactuated systems
Automatica (Journal of IFAC)
Hi-index | 0.00 |
This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. A general hybrid procedure is proposed that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving “down” and “across” the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, conditions are provided under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal. Simulation results are given for a sample of visual servoing problems with a few different perceptual models. The empirical effectiveness of the proposed algorithm is documented by reporting results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons.