Direct homography control for highly maneuverable vehicles

Alexander Schaub, Tilman Bunte, Darius Burschka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors through connection of the perception and control in the data space of the sensor. The control law is formulated in a way that it is only dependent on features of the current image without measuring or calculating any position in the Cartesian space. Only the target image must be known and the target position should be estimated relatively to the feature plane. An evaluation of the robustness of the controller is presented and verified by simulation.

Original languageEnglish
Title of host publication2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages826-831
Number of pages6
ISBN (Electronic)9781479946013
DOIs
StatePublished - 11 Dec 2014
Event2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014 - Sinaia, Romania
Duration: 17 Oct 201419 Oct 2014

Publication series

Name2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014

Conference

Conference2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014
Country/TerritoryRomania
CitySinaia
Period17/10/1419/10/14

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