HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION

Andrea Usai, Paolo Di Giamberardino

2007

Abstract

The paper addresses the development of a kinematic model for a system composed by a nonholonomic mobile robot and a camera used as feedback sensor to close the control loop. It is shown that the proposed homography-based model takes a particular form that brings to a finite sampled equivalent model. The design of a multirate digital control is then descibed and discussed, showing that exact solutions are obtained. Simulation results are also reported to put in evidence the effectiveness of the proposed approach.

Paper Citation

in Harvard Style

Usai A. and Di Giamberardino P. (2007). HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 259-264. DOI: 10.5220/0001631502590264

in Bibtex Style

@conference{icinco07,
author={Andrea Usai and Paolo Di Giamberardino},
title={HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={259-264},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001631502590264},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - HOMOGRAPHY-BASED MOBILE ROBOT MODELING FOR DIGITAL CONTROL IMPLEMENTATION
SN - 978-972-8865-83-2
AU - Usai A.
AU - Di Giamberardino P.
PY - 2007
SP - 259
EP - 264
DO - 10.5220/0001631502590264