Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 40, Issue 4, 2010, Pages 1115-1127

  López Nicolás, Gonzalo ^a   Gans, Nicholas R ^b   Bhattacharya, Sourabh ^c   Sagüés, Carlos ^a   Guerrero, Josechu J ^a   Hutchinson, Seth ^c  

^a UNIVERSITY OF ZARAGOZA   (Spain)

^b UNIVERSITY OF TEXAS AT DALLAS   (United States)

^c University of Illinois at Urbana Champaign   (United States)

Author keywords

Homography; mobile robot; optimal paths; visual control

Indexed keywords

CONTROL LAWS; CONTROL SCHEMES; DIFFERENTIAL DRIVE ROBOTS; FIELD OF VIEWS; HOMOGRAPHIES; HOMOGRAPHY; HOMOGRAPHY DECOMPOSITIONS; HOMOGRAPHY MATRICES; INDIVIDUAL CONTROL; LOGARITHMIC SPIRAL; NONHOLONOMICS; OPTIMAL PATHS; PATH SEGMENTS; POSE PARAMETERS; STABILITY ANALYSIS; STRAIGHT-LINE SEGMENTS; SWITCHING CONDITIONS; VISION SYSTEMS; VISUAL CONTROL; VISUAL SERVO;

CONTROL THEORY; MOBILE ROBOTS;

OPTIMIZATION;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; AUTOMATED PATTERN RECOGNITION; COMPUTER ASSISTED DIAGNOSIS; FEEDBACK SYSTEM; IMAGE ENHANCEMENT; METHODOLOGY; MOTION; REPRODUCIBILITY; ROBOTICS; SENSITIVITY AND SPECIFICITY; THREE DIMENSIONAL IMAGING;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; FEEDBACK; IMAGE ENHANCEMENT; IMAGE INTERPRETATION, COMPUTER-ASSISTED; IMAGING, THREE-DIMENSIONAL; MOTION; PATTERN RECOGNITION, AUTOMATED; REPRODUCIBILITY OF RESULTS; ROBOTICS; SENSITIVITY AND SPECIFICITY;

EID: 77954759928     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2009.2034977     Document Type: Article

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