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Sinusoidal input-based visual control for nonholonomic vehicles

Published online by Cambridge University Press:  13 February 2013

M. Aranda ,
G. López-Nicolás  and
C. Sagüés
M. Aranda*
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
G. López-Nicolás
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
C. Sagüés
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
*
*Corresponding author. E-mail: marandac@unizar.es
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Summary

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This paper proposes a new visual control approach based on sinusoidal inputs to be used on a nonholonomic robot. We present several contributions: In our method, developed considering a unicycle kinematic model, sinusoids are used in such a way that the generated vehicle trajectories are feasible, smooth and versatile. Our technique improves previous sinusoidal-based control works in terms of efficiency and flexibility. As further contributions, we present analytical expressions for the evolution of the robot's state, and propose a new state-feedback control law based on these expressions. All the information used in the control scheme is obtained from omnidirectional vision by means of the one-dimensional trifocal tensor. Stability analysis of the proposed approach is presented, and its performance is illustrated through experiments.

Keywords

Visual servoingMobile robotsOmnidirectional visionNavigationControl of robotic systems

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 5 , August 2013 , pp. 811 - 823
Copyright
Copyright © Cambridge University Press 2013 

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