Sinusoidal input-based visual control for nonholonomic vehicles

@article{Aranda2013SinusoidalIV,
  title={Sinusoidal input-based visual control for nonholonomic vehicles},
  author={Miguel Aranda and Gonzalo L{\'o}pez-Nicol{\'a}s and Carlos Sag{\"u}{\'e}s},
  journal={Robotica},
  year={2013},
  volume={31},
  pages={811 - 823}
}
SUMMARY 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… 
2 Citations
Position-Based Visual Servoing of a Mobile Robot with an Automatic Extrinsic Calibration Scheme
TLDR
A novel approach for position-based visual servoing is implemented using gradient descent (GD)-based estimation and the sliding-mode approach that achieves both estimation and control tasks in a single experiment.
Landmark-Based Homing Navigation Using Omnidirectional Depth Information
TLDR
This paper mounts a depth sensor on a mobile robot, in order to obtain omnidirectional distance information about the surrounding environment, and suggests a holistic view of panoramic depth information for homing navigation where each sample point is taken as a landmark.

References

SHOWING 1-10 OF 50 REFERENCES
Visual servoing for path reaching with nonholonomic robots
TLDR
Two visual servoing controllers (pose-based and image-based) enabling mobile robots with a fixed pinhole camera to reach and follow a continuous path drawn on the ground are presented.
Switching visual control based on epipoles for mobile robots
Performance-based reactive navigation for non-holonomic mobile robots
TLDR
An architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles is presented and it is shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations.
Feedback control of a nonholonomic wheeled cart in Cartesian space
TLDR
A preliminary study of the problem of the feedback control of mobile robots is presented, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving.
Path-following control of mobile robots in presence of uncertainties
This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to
Motion-Estimation-Based Visual Servoing of Nonholonomic Mobile Robots
TLDR
A 2-1/2-D visual servoing strategy, which is based on a novel motion-estimation technique, is presented for the stabilization of a nonholonomic mobile robot and it is shown that practical exponential stability can be achieved, despite the lack of depth information,Which is inherent for monocular camera systems.
Visual servo control. II. Advanced approaches [Tutorial]
TLDR
This tutorial has only considered velocity controllers, which is convenient for most of classical robot arms and geometrical features coming from a classical perspective camera is considered.
Homography-based visual servo tracking control of a wheeled mobile robot
TLDR
A visual servo tracking controller for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem).
Nonholonomic motion planning: steering using sinusoids
Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems
...
...