Corpus ID: 120176586

Configuration Control of an Autonomous Vehicle under Nonholonomic and Field-of-View Constraints

  title={Configuration Control of an Autonomous Vehicle under Nonholonomic and Field-of-View Constraints},
  author={A. Widyotriatmo and K. Hong},
  journal={International journal of imaging and robotics},
In this paper, a configuration (position and orientation) control problem of a forklift under the fieldof view (FOV) constraint of a camera is considered. In designing a control law, three navigation variables (the distance error, two split angles of the orientation error) are utilized. The control problem is formulated as an asymptotic stabilization problem of the origin in the error space of the navigation variables, in which the orientation error associated with the direction of the vehicle… Expand
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