Planning and Control of Mobile Robots in Image Space from Overhead Cameras
Loading...
Penn collection
Lab Papers (GRASP)
Degree type
Discipline
Subject
Visual servoing
differential flatness
trajectory generation and control
Engineering
differential flatness
trajectory generation and control
Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
Abstract
In this work, we present a framework for the development of a planar mobile robot controller based on image plane feedback. We show that the design of such a motion controller can be accomplished in the image plane by making use of a subset of the parameters that relate the image plane to the ground plane, while still leveraging the simplifications offered by modeling the system as a differentially flat system. Our method relies on a waypoint-based trajectory generator, with all the waypoints specified in the image, as seen by an overhead observer. We present some results from simulation as well as from experiments that validate the ideas presented in this work and discuss some ideas for future work
Advisor
Date of presentation
2005-04-01
Conference name
Lab Papers (GRASP)
Conference dates
2023-05-17T05:27:04.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
Suggested Citation: Rao, R., V. Kumar and C.J. Taylor. (2005). "Planning and Control of Mobile Robots in Image Space from Overhead Cameras." Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, Spain. April 2005. ©2005 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.