A fast vision-based road following strategy applied to the control of aerial robots

Author

Silveira, Geraldof ; Carvalho, J. Reginaldo H ; Madrid, Marconki ; Rives, Patrick ; Bueno, Samuels

Author_Institution

Univ. Estadual de Campinas, Sao Paulo, Brazil

fYear

2001

fDate

37165

Firstpage

226

Lastpage

231

Abstract

The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the nonholonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an interaction matrix. Simulation results validating the strategy are shown

Keywords

aircraft control; closed loop systems; computer vision; computerised navigation; mobile robots; optical tracking; remote sensing; servomechanisms; aerial robots; aerial unmanned vehicles; closed-loop control; computer vision; feedback; interaction matrix; road following tracking; visual servoing; Automatic control; Feedback; Image sensors; Jacobian matrices; Roads; Robot control; Robot sensing systems; Robot vision systems; Robotics and automation; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Graphics and Image Processing, 2001 Proceedings of XIV Brazilian Symposium on

Conference_Location

Florianopolis

Print_ISBN

0-7695-1330-1

Type

conf

DOI

10.1109/SIBGRAPI.2001.963059

Filename

963059