TY - GEN
T1 - Direct homography control for highly maneuverable vehicles
AU - Schaub, Alexander
AU - Bunte, Tilman
AU - Burschka, Darius
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/11
Y1 - 2014/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84929407933&partnerID=8YFLogxK
U2 - 10.1109/ICSTCC.2014.6982521
DO - 10.1109/ICSTCC.2014.6982521
M3 - Conference contribution
AN - SCOPUS:84929407933
T3 - 2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014
SP - 826
EP - 831
BT - 2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 18th International Conference on System Theory, Control and Computing, ICSTCC 2014
Y2 - 17 October 2014 through 19 October 2014
ER -