Vision-based control for rigid body stabilization

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2007

Autores

Rita Cunha (Autor) Outra; Carlos Silvestre (Autor) Outra; Joao Hespanha (Autor) Outra; Pedro P Aguiar (Autor) Outra

Ata de Conferência Internacional

Título: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14

Páginas: 2842-2847

46th IEEE Conference on Decision and Control

New Orleans, LA, DEC 12-14, 2007

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 4 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-004-EBA

DOI: 10.1109/cdc.2007.4434472

Abstract (EN): This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move in SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the image coordinates and reconstructed depth information that guarantees i) almost global asymptotic stability of the desired equilibrium point; ii) positive invariance of a conveniently defined subset of SE(3), to enforce feature visibility; and iii) exponential stability of an error vector directly defined in the image plane.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6