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Schaub, Alexander and Bünte, Tilman and Burschka, Darius (2014) Direct Homography Control for Highly Maneuverable Vehicles. In: Proceedings of the 18th International Conference on System Theory, Control and Computing (ICSTCC), pp. 832-837. IEEE Control Systems Society. 18th International Conference on System Theory, Control and Computing, 2014-10-17 - 2014-10-19, Sinaia, Rumänien. doi: 10.1109/ICSTCC.2014.6982521. ISBN 978-1-4799-4602-0.
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Abstract
This paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. The control law is formulated in a way that it is only dependent on features of the current image without measuring or calculating any position in the Cartesian space. Only the target image must be known and the target position should be estimated relatively to the feature plane. An evaluation of the robustness of the controller is presented and verified by simulation.
| Item URL in elib: | https://elib.dlr.de/90928/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Direct Homography Control for Highly Maneuverable Vehicles | ||||||||||||||||
| Authors: |
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| Date: | October 2014 | ||||||||||||||||
| Journal or Publication Title: | Proceedings of the 18th International Conference on System Theory, Control and Computing (ICSTCC) | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/ICSTCC.2014.6982521 | ||||||||||||||||
| Page Range: | pp. 832-837 | ||||||||||||||||
| Publisher: | IEEE Control Systems Society | ||||||||||||||||
| ISBN: | 978-1-4799-4602-0 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Vision Based Control; Homography; Motion Control | ||||||||||||||||
| Event Title: | 18th International Conference on System Theory, Control and Computing | ||||||||||||||||
| Event Location: | Sinaia, Rumänien | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 17 October 2014 | ||||||||||||||||
| Event End Date: | 19 October 2014 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Intelligente Mobilität (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of System Dynamics and Control > Vehicle System Dynamics | ||||||||||||||||
| Deposited By: | Schaub, Alexander | ||||||||||||||||
| Deposited On: | 18 Nov 2014 16:53 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 19:56 |
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