Real-time visual predictive controller for image-based trajectory tracking of a mobile robot

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Allibert, Guillaume ^a   Courtial, Estelle ^a   Toure, Y ^a  

^a NONE

Author keywords

Application of nonlinear analysis and design; Tracking

Indexed keywords

CAMERA MODEL; COMPUTATIONAL TIME; GLOBAL MODELS; IMAGE PLANE; IMAGE-BASED; NON-HOLONOMIC MOBILE ROBOTS; NON-LINEAR OPTIMIZATION PROBLEMS; PREDICTIVE CONTROL LAW; PREDICTIVE CONTROLLER; REAL-TIME CONTROLLERS; TRACKING; TRAJECTORY TRACKING; VISIBILITY CONSTRAINT;

CAMERAS; CONTROLLERS; DESIGN; MOBILE ROBOTS; NONLINEAR ANALYSIS; PREDICTIVE CONTROL SYSTEMS; REAL TIME CONTROL;

VISUAL SERVOING;

EID: 79961018681     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.3412     Document Type: Conference Paper

References (9)

1. G. Allibert, Courtial E., and Y. Toure. Visual predictive control. Grenoble, France, October 2006. IFAC Workshop on Nonlinear Predictive Control for Fast Systems.
2. G. Allibert, Courtial E., and Y. Toure. A flat model predictive controller for trajectory tracking in image based visual servoing. Pretoria, South Africa, August 2007. 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS'07.
3. F. Chaumette. Potential problems of stability and convergence in image-based and position-based visual servoing. In D. Kriegman, G. Hager, and A.S. Morse, editors, The Confluence of Vision and Control, pages 66-78. LNCIS Series, No 237, Springer-Verlag, 1998.
4. F. Chaumette and S. Hutchinson. Visual servo control, part i: Basic approaches. IEEE Robotics and Automation Magazine, 13(4):82-90, December 2006.
5. F. Chaumette and S. Hutchinson. Visual servo control, part ii: Advanced approaches. IEEE Robotics and Automation Magazine, 14(1):109-118, March 2007.
6. M. Fliess, J. L evine, P. Martin, and P. Rouchon. Flatness and defect of nonlinear systems. Int. J. Control, 61: 1327-1361, 1995.
7. M. Van Nieuwstadt, M. Rathinam, and R.M. Murray. Differential flatness and absolute equivalence of nonlinear control systems. Technical Report 94-1006, CIT/CDS, 1995.
8. R. Rao, V. Kumar, and C. Taylor. Visual servoing of ugv from a uav using differential flatness. IEEE Workshop on Intelligent Robots and Systems, 2003.
9. M. Sauve, P. Poignet, E. Dombre, and E. Courtial. Robust image based visual servoing through nonlinear model predictive control. San Diego, USA, December 2006. 45th IEEE CDC.