01360nas a2200205 4500008004100000245005100041210005000092260002000142300001200162490000600174520076300180653002100943653001300964100001600977700001800993700001501011700001701026700001301043856009801056 2002 eng d00aVisual-servoed parking with limited view angle0 aVisualservoed parking with limited view angle bSpringer Verlag a254-2630 v53 a
In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.
10aEmbedded Control10aRobotics1 aMurrieri, P1 aFontanelli, D1 aBicchi, A.1 aSiciliano, B1 aDario, P uhttp://www.centropiaggio.unipi.it/publications/visual-servoed-parking-limited-view-angle.html