a. Description

This video presents the simulation results of a switched homography-based 
visual control for differential drive vehicles. The goal is defined by an 
image taken at the desired position. The control implemented takes into 
account the field-of-view constraints of the vision system through the 
specific design of the paths with optimality criteria.
The optimal paths consist of straight lines and curves that saturate the 
sensor viewing angle. We have presented the controls that move the robot 
along these paths based on the convergence of the elements of the 
homography matrix.
The video shows the trajectories followed by the robot in three different 
simulations with straight line and T-curve paths. Results show that the method 
converges properly.
First simulation: The optimal path is a straight line to the goal.
Second simulation: The optimal path consits on T-curves.
Third simulation: The optimal path consits on T-curves. Odometry drift is added 
to the motion of the robot.


b. Player information

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


c. Contac Information

G. López-Nicolás*, S. Bhattacharya**, J.J. Guerrero*, C. Sagüés* and S. Hutchinson**

*DIIS - I3A, Universidad de Zaragoza, Spain
{gonlopez, csagues, jguerrer}@unizar.es

** Dept. of Electrical and Computer Engineering. Beckman Institute for
Advanced Science and Technology. University of Illinois, USA
{sbhattac, seth}@uiuc.edu

Attachment filename: 0734_VI.mp4 (5056115 Bytes)