Visual Servoing of a UGV from a UAV using Differential Flatness
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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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In this paper the problem of controlling the motion of a nonholonomic vehicle along a desired trajectory using observations from an overhead camera is considered. The control problem is formulated in the image plane. We show that the system in the image plane is differentially flat and use this property to generate effective control strategies using only visual feedback. Simulation results illustrate the methodology and show robustness to errors in the camera calibration parameters.
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2003-10-27
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Departmental Papers (MEAM)
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2023-05-16T21:43:07.000
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Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Sytems (IROS 2003), Volume 1, pages 743-748. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27983&page=8 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.