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ICRA
2006
IEEE

A Vision-based Nonlinear Decentralized Controller for Unmanned Vehicles

10 years 5 months ago
A Vision-based Nonlinear Decentralized Controller for Unmanned Vehicles
— This paper presents a vision-based control strategy for decentralized stabilization of unmanned vehicle (UV) formations. The key point of the algorithm is that it only requires knowledge of the leader-follower relative distance and bearing. The approach is based on an output feedback controller that uses a high-gain observer to estimate derivatives of UV’s relative positions. Both data are measured using a pan-controlled camera on-board the following robot which eliminates sensitivity to information flow among vehicles. A Lyapunov stability analysis guarantees that the closed-loop system is stable and the formation error can be made arbitrarily small. A virtual environment and a vision system are used to validate the proposed methodology.
Omar A. A. Orqueda, Rafael B. Fierro
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Omar A. A. Orqueda, Rafael B. Fierro
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