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Direct Homography Control for Highly Maneuverable Vehicles

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, 17.-19. Okt. 2014, Sinaia, Rumänien. 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/
Document Type:Conference or Workshop Item (Speech)
Title:Direct Homography Control for Highly Maneuverable Vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schaub, Alexanderalexander.schaub (at) dlr.deUNSPECIFIED
Bünte, TilmanTilman.Buente (at) DLR.deUNSPECIFIED
Burschka, Dariusburschka (at) cs.tum.deUNSPECIFIED
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
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 Dates:17.-19. Okt. 2014
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:18 Nov 2014 16:53
Last Modified:17 Jul 2019 10:51

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  • Direct Homography Control for Highly Maneuverable Vehicles. (deposited 18 Nov 2014 16:53) [Currently Displayed]

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