HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION

Andrea Usai, Paolo Di Giamberardino

Abstract

The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-based model takes a particular form that brings to a finite sampled equivalent model. The design of a multirate digital control is then descibed and discussed, showing that exact solutions are obtained. Simulation results are also reported to put in evidence the effectiveness of the proposed approach.

References

  1. Chelouah, A., Di Giamberardino, P., Monaco, S., and Normand-Cyrot, D. (1993). Digital control of nonholonomic systems two case studies. In Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on, pages 2664-2669vol.3.
  2. Chen, J., Dixon, W., Dawson, M., and McIntyre, M. (2006). Homography-based visual servo tracking control of a wheeled mobile robot. Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on], 22(2):406-415.
  3. Coleman, T. and Li, Y. (1996). A reflective newton method for minimizing a quadratic function subject to bounds on some of the variables. SIAM Journal on Optimization, 6(4):1040-1058.
  4. Di Giamberardino, P. (2001). Control of nonlinear driftless dynamics: continuous solutions from discrete time design. In Decision and Control, 2001. Proceedings of the 40th IEEE Conference on, volume 2, pages 1731- 1736vol.2.
  5. Di Giamberardino, P., Grassini, F., Monaco, S., and Normand-Cyrot, D. (1996a). Piecewise continuous control for a car-like robot: implementation and experimental results. In Decision and Control, 1996., Proceedings of the 35th IEEE, volume 3, pages 3564- 3569vol.3.
  6. Di Giamberardino, P., Monaco, S., and Normand-Cyrot, D. (1996b). Digital control through finite feedback discretizability. In Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, volume 4, pages 3141-3146vol.4.
  7. Lopez-Nicolas, G., Sagues, C., Guerrero, J., Kragic, D., and Jensfelt, P. (2006). Nonholonomic epipolar visual servoing. In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages 2378-2384.
  8. Mariottini, G., Prattichizzo, D., and Oriolo, G. (2006). Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera. In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages 538-544.
  9. Monaco, S. and Normand-Cyrot, D. (1985). On the sampling of a linear analytic control system. In Decision and Control, 1985., Proceedings of the 24th IEEE Conference on, pages pp. 1457-1461.
  10. Monaco, S. and Normand-Cyrot, D. (1992). An introduction to motion planning under multirate digital control. In Decision and Control, 1992., Proceedings of the 31st IEEE Conference on, pages 1780-1785vol.2.
  11. Monaco, S. and Normand-Cyrot, D. (2001). Issues on nonlinear digital control. European Journal of Control, 7(2-3).
  12. R. Hartley, A. Z. (2003). Multiple View Geometry in Computer Vision. Number ISBN: 0-521-54051-8. Cambridge University Press.
  13. [m4
Download


Paper Citation


in Harvard Style

Usai A. and Di Giamberardino P. (2007). HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 259-264. DOI: 10.5220/0001631502590264


in Bibtex Style

@conference{icinco07,
author={Andrea Usai and Paolo Di Giamberardino},
title={HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={259-264},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001631502590264},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION
SN - 978-972-8865-83-2
AU - Usai A.
AU - Di Giamberardino P.
PY - 2007
SP - 259
EP - 264
DO - 10.5220/0001631502590264