The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-based model takes a particular form that brings to a finite sampled equivalent model. The design of a multirate digital control is then descibed and discussed, showing that exact solutions are obtained. Simulation results are also reported to put in evidence the effectiveness of the proposed approach.
Homography-Based Mobile Robot Modeling For Digital Control Implementation / A., Usai; DI GIAMBERARDINO, Paolo. - STAMPA. - 2:(2007), pp. 259-264. (Intervento presentato al convegno THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS tenutosi a Angers; France nel 9-12 maggio 2007).
Homography-Based Mobile Robot Modeling For Digital Control Implementation
DI GIAMBERARDINO, Paolo
2007
Abstract
The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-based model takes a particular form that brings to a finite sampled equivalent model. The design of a multirate digital control is then descibed and discussed, showing that exact solutions are obtained. Simulation results are also reported to put in evidence the effectiveness of the proposed approach.| File | Dimensione | Formato | |
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