Title :
Adaptive Vision-Based Collaborative Tracking Control of An UGV via a Moving Airborne Camera: A Daisy Chaining Approach
Author :
Mehta, S.S. ; Hu, G. ; Gans, N.R. ; Dixon, W.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Florida Univ., Gainesville, FL
Abstract :
A cooperative visual servo tracking controller is developed in this paper with the objective to enable an unmanned ground vehicle (UGV) to follow a desired trajectory encoded as a sequence of images (i.e. a prerecorded video) utilizing the image feedback from a moving airborne monocular camera system. An innovative daisy chaining strategy is used to resolve the relative velocity between the moving airborne camera (i.e., a camera attached to a remotely piloted aircraft), the moving UGV, and the desired time varying UGV trajectory. An adaptive Lyapunov-based control strategy is employed to actively compensate for the lack of known depth measurements and the lack of an object model
Keywords :
Lyapunov methods; adaptive control; image sequences; mobile robots; position control; remotely operated vehicles; robot vision; target tracking; visual servoing; adaptive Lyapunov-based control; adaptive vision-based collaborative tracking control; cooperative visual servo tracking controller; image feedback; image sequence; innovative daisy chaining strategy; moving airborne monocular camera system; time varying UGV trajectory; unmanned ground vehicle; Adaptive control; Aircraft; Cameras; Collaboration; Control systems; Feedback; Land vehicles; Programmable control; Servomechanisms; Trajectory;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377094
