Vision-based control for rigid body stabilization

• Type: Article in International Conference Proceedings Book
• Date: 2007

Authors

Rita Cunha (Author) Other; Carlos Silvestre (Author) Other; Joao Hespanha (Author) Other; Pedro P Aguiar (Author) Other

Conference proceedings International

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

Pages: 2842-2847

46th IEEE Conference on Decision and Control

New Orleans, LA, DEC 12-14, 2007

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 4 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6