a. Description

This video presents the simulation results of a new visual control approach 
based on homography. The method is intended for nonholonomic vehicles with 
a fixed monocular system on board. The idea of visual control used here is 
the usual approach where the desired position of the robot is given by a 
target image taken at that position. This target image is the only previous 
information needed by the control law to perform the navigation from the 
initial position to the target. The control law is designed by the 
input-output linearization of the system using the homography elements 
as output.
The simulations show the trajectories followed by the robot starting from 
three different initial positions. As it can be seen the method converges 
properly in all the cases. The motion is performed without homography 
decomposition or depth estimation.


b. Player information

File type: MPEG-4 Movie
Player software: QuickTime Player 7.0


c. Contac Information

G. López-Nicolás, C. Sagüés and J.J. Guerrero
DIIS - I3A, Universidad de Zaragoza, Spain
{gonlopez, csagues, jguerrer}@unizar.esz, csagues, jguerrer}@unizar.es

Attachment filename: 0730_VI.mp4 (1631771 Bytes)