loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Andrea Usai and Paolo Di Giamberardino

Affiliation: University of Rome “La Sapienza”, Italy

Keyword(s): Nonholonomic mobile robot, multirate digital control, visual servoing.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.222.111.24

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 259-264. DOI: 10.5220/0001631502590264

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Usai, A.
AU - Di Giamberardino, P.
PY - 2007
SP - 259
EP - 264
DO - 10.5220/0001631502590264
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic