Visual path following by recursive spline updating

Author

Frezza, R. ; Soatto, S. ; Picci, G.

Author_Institution

Dipt. di Elettronica e Inf., Padova Univ., Italy

Volume

2

fYear

1997

fDate

10-12 Dec 1997

Firstpage

1130

Abstract

In this paper we address the problem of tracking an unknown contour by commanding the translational and rotational velocities of a nonholonomic vehicle moving on a plane. A TV camera provides measurements of the distance of the contour from the x-axis of the moving frame (fixed with the vehicle). We discuss an online path planning control strategy which leads the vehicle to land softly at a desired point ahead on the unknown curve and to stay on the curve once it has been reached. This strategy could be seen as an explicit model-based predictive control scheme

Keywords

computer vision; mobile robots; optical tracking; path planning; predictive control; real-time systems; robot kinematics; splines (mathematics); vehicles; TV camera; autonomous nonholonomic vehicle; kinematics; model-based predictive control; path planning; real time systems; recursive spline updating; visual path following; Controllability; Image reconstruction; Path planning; Remotely operated vehicles; Road vehicles; Shape control; Spline; Stochastic processes; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657599

Filename

657599