A Bearing-Only Control Law for Stable Docking of Unicycles
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]
|Collections||ANU Research Publications|
|Source:||Proceedings of Intelligent Robots and Systems (IROS) 2003|
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