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Authors: Andrea Usai and Paolo Di Giamberardino

Affiliation: University of Rome “La Sapienza”, Italy

ISBN: 978-972-8865-83-2

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.

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Paper citation in several formats:
Usai A.; Di Giamberardino P. and (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

@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},
}

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

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