Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints.
Gonzalo López-NicolásNicholas R. GansSourabh BhattacharyaCarlos SagüésJosé Jesús GuerreroSeth HutchinsonPublished in: IEEE Trans. Syst. Man Cybern. Part B (2010)
Keyphrases
- field of view
- control scheme
- mobile robot
- control law
- consistent labeling
- closed loop
- path planning
- image mosaicing
- dynamic model
- sliding mode
- ego motion
- indoor environments
- motion planning
- control strategy
- multiple cameras
- control system
- omnidirectional camera
- robot manipulators
- pid controller
- autonomous robots
- optical center
- motion from image sequences
- multi robot
- high resolution
- nonlinear systems
- obstacle avoidance
- adaptive control
- neural network controller
- panoramic images
- trifocal tensor
- neural controller
- dynamic environments
- robotic systems
- optimal control
- ground plane
- camera motion
- control algorithm
- feature points
- image sequences
- image processing
- computer vision