TY - GEN
T1 - Path-following control for mobile robots localized via sensor-fused visual homography
AU - Satici, Aykut
AU - Tick, David
AU - Shen, Jinglin
AU - Gans, Nicholas
PY - 2013
Y1 - 2013
N2 - This paper presents a novel navigation and control system for wheeled mobile robots that includes path planning, localization, and control. A path following control system is introduced that is capable of guiding and keeping the robot on a designated curve. Localization and velocity estimation are provided by a unique sensor fusion algorithm that incorporates vision, IMU and wheel encoder data. Stability analysis is provided for the control system, and experimental results are presented that prove the combined localization and control system performs with high accuracy.
AB - This paper presents a novel navigation and control system for wheeled mobile robots that includes path planning, localization, and control. A path following control system is introduced that is capable of guiding and keeping the robot on a designated curve. Localization and velocity estimation are provided by a unique sensor fusion algorithm that incorporates vision, IMU and wheel encoder data. Stability analysis is provided for the control system, and experimental results are presented that prove the combined localization and control system performs with high accuracy.
UR - https://www.scopus.com/pages/publications/84883544842
U2 - 10.1109/acc.2013.6580824
DO - 10.1109/acc.2013.6580824
M3 - Conference contribution
AN - SCOPUS:84883544842
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 6287
EP - 6293
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -