A multirate strategy for the control of a nonholonomic mobile robot using a visual servoing approach is presented. Such a control is based on a mathematical model computed using two virtual image features. The proposed multirate digital control technique guarantees their presence in the camera field of view during all the robot motion. The absence of obstacles in the robot configuration space is assumed. Simulations results are presented to validate the proposed method.
A Multirate Digital Controller for Nonholonomic Mobile Robot Pose Regulation via Visual Feedback / A., Usai; DI GIAMBERARDINO, Paolo. - In: WSEAS TRANSACTIONS ON SYSTEMS. - ISSN 1109-2777. - STAMPA. - 5(5):(2006), pp. 1129-1136.
A Multirate Digital Controller for Nonholonomic Mobile Robot Pose Regulation via Visual Feedback
DI GIAMBERARDINO, Paolo
2006
Abstract
A multirate strategy for the control of a nonholonomic mobile robot using a visual servoing approach is presented. Such a control is based on a mathematical model computed using two virtual image features. The proposed multirate digital control technique guarantees their presence in the camera field of view during all the robot motion. The absence of obstacles in the robot configuration space is assumed. Simulations results are presented to validate the proposed method.| File | Dimensione | Formato | |
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