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Direct Homography Control for Vision-Based Platooning

Schaub, Alexander and de Castro, Ricardo and Burschka, Darius (2016) Direct Homography Control for Vision-Based Platooning. IEEE Intelligent Vehicles Symposium, 20.-22. Juni 2016, Götheborg.

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Abstract

This paper introduces a vision-based Controller for automatic vehicle following, also known as 2-vehicle platooning. A direct homography controller is applied to calculate the motion demand for an autonomous vehicle from only the data of a monocular camera. The direct control without an intermediate step to a Cartesian representation increases the robustness of the scheme. A robustness analysis of the closed loop controller is provided using the parameter space approach. Furthermore, the direct homography controller is extended by an estimation of the absolute angular difference to the goal position, which then enables the estimation of the position error. The proposed homography-based Position estimation is tested on rendered camera images for better evaluation of the underlying error and the platooning controller is verified in simulation. Finally, the results of both are presented.

Item URL in elib:https://elib.dlr.de/105543/
Document Type:Conference or Workshop Item (Poster)
Title:Direct Homography Control for Vision-Based Platooning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schaub, AlexanderAlexander.Schaub (at) dlr.deUNSPECIFIED
de Castro, RicardoRicardo.DeCastro (at) dlr.deUNSPECIFIED
Burschka, Dariusburschka (at) cs.tum.deUNSPECIFIED
Date:2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Platooning; Vision-based control; Homography; Intelligent Vehicles
Event Title:IEEE Intelligent Vehicles Symposium
Event Location:Götheborg
Event Type:international Conference
Event Dates:20.-22. Juni 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Schaub, Alexander
Deposited On:09 Aug 2016 13:15
Last Modified:01 Dec 2018 19:52

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