A Bearing-Only Control Law for Stable Docking of Unicycles
Date
2003
Authors
Wei, Ran
Mahony, Robert
Austin, David
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 algorithm is proposed and results are provided to demonstrate its performance in extracting targets from cluttered scenes. Experimental results are presented demonstrating the performance of the algorithm on the ANU Nomadic Technologies Nomad XR4000 robot.
Description
Keywords
Keywords: Algorithms; Bearing capacity; Binary sequences; Closed loop control systems; Computational methods; Computer simulation; Convergence of numerical methods; Docking; Feature extraction; Image analysis; Kinematics; Motion control; Position control; Robustnes
Citation
Collections
Source
Proceedings of Intelligent Robots and Systems (IROS) 2003
Type
Conference paper