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A Bearing-Only Control Law for Stable Docking of Unicycles

Wei, Ran; Mahony, Robert; Austin, David

Description

This paper proposes a new control method for stabilising control design for docking unicycle-like vehicles based on bearing-only information. An omni-directional panoramic camera is used to detect visual targets around the docking station and provides bearing (or heading) data for each observed landmark. The convergence of the controlled system is fully analysed and simulations are provided to demonstrate the ideal behaviour of the system. A robust and computationally cheap blob detection...[Show more]

CollectionsANU Research Publications
Date published: 2003
Type: Conference paper
URI: http://hdl.handle.net/1885/86641
Source: Proceedings of Intelligent Robots and Systems (IROS) 2003

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