INVESTIGADORES
SORIA Carlos Miguel
artículos
Título:
Homography-Based Tracking Control for Mobile Robots
Autor/es:
CARLOS M SORIA; LIZARDO PARI; RICARDO CARELLI; JOSÉ MARÍA SEBASTIÁN; ANTONIO TRASLOHEROS
Revista:
LECTURE NOTES IN COMPUTER SCIENCE
Editorial:
Springer-Verlag Berlin Heidelberg
Referencias:
Lugar: Berlin; Año: 2008 vol. 5112 p. 718 - 728
ISSN:
0302-9743
Resumen:
This work presents a control strategy that allows a follower robot totrack a target vehicle moving along an unknown trajectory with unknown velocity.It uses only artificial vision to establish both the robots position and orientationrelative to the target. The control system is proved to be asymptoticallystable at the equilibrium point, which corresponds to the navigation objective.Experimental results with two robots, a leader and a follower, are included toshow the performance of the proposed vision-based tracking control system
