{"title":"Vision-based implementation of feedback control of unicycle robots","authors":"B. Kwolek, T. Kapuscinski, M. Wysocki","doi":"10.1109/ROMOCO.1999.791060","DOIUrl":null,"url":null,"abstract":"The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.1999.791060","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 13
Abstract
The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.