HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION

Andrea Usai, Paolo Di Giamberardino

2007

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

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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