Abstract
We address the problem of following an unknown planar contour with a nonholonomic vehicle based on visual feedback. The control task is to keep a point of the vehicle as close as possible to the contour for a choice of norm. A camera mounted on-board the vehicle provides measurements of the contour. We formulate the problem and compute the control law in a moving reference frame modeling the evolution of the contour as seen by an observer sitting on the vehicle. The result is an on-line path planning strategy and a predictive control law which leads the vehicle to land softly on the unknown curve. Depending on the choice of the tracking criterion, the controller can exhibit non-trivial behaviors including automatic maneuvering.
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© 1998 Springer-Verlag
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Frezza, R., Picci, G., Soatto, S. (1998). A lagrangian formulation of nonholonomic path following. In: Kriegman, D.J., Hager, G.D., Morse, A.S. (eds) The confluence of vision and control. Lecture Notes in Control and Information Sciences, vol 237. Springer, London. https://doi.org/10.1007/BFb0109667
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DOI: https://doi.org/10.1007/BFb0109667
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