Title :
On line path following by recursive spline updating
Author :
Frezza, R. ; Picci, G.
Author_Institution :
Dipartimento di Elettronica e Inf., Padova Univ., Italy
Abstract :
In this paper we address the problem of tracking an unknown contour by commanding the translation and rotational velocities of a vehicle. We propose an on-line contour estimator based on a recursive spline approximation and we discuss its applicability to a model-based predictive control strategy
Keywords :
approximation theory; model reference adaptive control systems; position control; predictive control; recursive estimation; splines (mathematics); tracking; model-based predictive control strategy; online contour estimator; online path following; recursive spline approximation; recursive spline updating; rotational velocities; translation velocities; unknown contour tracking; Cameras; Image reconstruction; Mobile robots; Optical feedback; Optical sensors; Predictive control; Predictive models; Recursive estimation; Remotely operated vehicles; Spline;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479239
