Vision-Based Leader/Follower Tracking for Nonholonomic Mobile Robots

Abstract

This paper presents a strategy for a nonholonomic mobile robot to autonomously follow a target based on vision information from an onboard pan camera unit (PCU). Homography-based techniques are used to obtain relative position and orientation information from the monocular camera images. The proposed kinematic controller, based on the Lyapunov method, achieves uniform ultimately bounded (UUB) tracking.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA462604

Entities

People

  • Darren M. Dawson
  • Hariprasad Kannan /vilas K. /chitrakaran
  • Timothy Burg

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Cameras
  • Computer Vision
  • Computers
  • Control Systems
  • Engineering
  • Kalman Filters
  • Navigation
  • Orientation (Direction)
  • Robotics
  • Robots
  • Simulations
  • Three Dimensional
  • Two Dimensional
  • Universities
  • Vehicles
  • Visual Servoing

Readers

  • Aerosol Science/Aerosol Physics
  • Robotics and Automation.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control