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Sinusoidal input-based visual control for nonholonomic vehicles

Published online by Cambridge University Press:  13 February 2013

M. Aranda ,
G. López-Nicolás  and
C. Sagüés
M. Aranda*
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
G. López-Nicolás
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
C. Sagüés
Affiliation:
Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Spain
*
*Corresponding author. E-mail: marandac@unizar.es
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Summary

This paper proposes a new visual control approach based on sinusoidal inputs to be used on a nonholonomic robot. We present several contributions: In our method, developed considering a unicycle kinematic model, sinusoids are used in such a way that the generated vehicle trajectories are feasible, smooth and versatile. Our technique improves previous sinusoidal-based control works in terms of efficiency and flexibility. As further contributions, we present analytical expressions for the evolution of the robot's state, and propose a new state-feedback control law based on these expressions. All the information used in the control scheme is obtained from omnidirectional vision by means of the one-dimensional trifocal tensor. Stability analysis of the proposed approach is presented, and its performance is illustrated through experiments.

Keywords

Visual servoingMobile robotsOmnidirectional visionNavigationControl of robotic systems
Type
Articles
Information
Robotica , Volume 31 , Issue 5 , August 2013 , pp. 811 - 823
Copyright
Copyright © Cambridge University Press 2013 

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