INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Homography-based tracking control for mobile robot
Autor/es:
CARLOS SORIA; LIZARDO PARI; RICARDO CARELLI; JOSÉ MARÍA SEBASTIÁN
Lugar:
Alcalá de Henares, Madrid
Reunión:
Simposio; IEEE International Symposium on Intelligent Signal Processing; 2007
Institución organizadora:
IEEE
Resumen:
This work presents a control strategy that allows a follower robot to track a target vehicle moving along an unknown trajectory with unknown velocity. It uses only artificial vision to establish both the robots position and orientation relative to the target, so as to maintain a specified formation at a given distance. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the proposed vision-based tracking control system.
