01480nas a2200181 4500008004100000245011500041210006900156260001400225300001200239490000700251520081800258653002101076653001301097100001601110700001801126700001501144856013901159 2004 eng d00aA Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback0 aHybridControl Approach to the Parking Problem of a Wheeled Vehic cApril-May a437-4480 v233 a
In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. 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. uhttp://www.centropiaggio.unipi.it/publications/hybrid-control-approach-parking-problem-wheeled-vehicle-using-limited-view-angle-visual01556nas a2200229 4500008004100000245009900041210006900140260002000209300001200229520078400241653002101025653001301046100001501059700001601074700001601090700001701106700001701123700001601140700001801156700001601174856013601190 2004 eng d00aOn The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles0 aProblem of Simultaneous Localization Map Building and Servoing o bSpringer Verlag a223-2393 aIn this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.
10aEmbedded Control10aRobotics1 aBicchi, A.1 aLorussi, F.1 aMurrieri, P1 aScordio, V G1 aSiciliano, B1 aDe Luca, A.1 aMelchiorri, C1 aCasalino, G uhttp://www.centropiaggio.unipi.it/publications/problem-simultaneous-localization-map-building-and-servoing-autonomous-vehicles.html00603nas a2200169 4500008004100000245007200041210006900113260001700182653002100199653001300220100001400233700001800247700001600265700001700281700001500298856012000313 2003 eng d00aCooperative Simultaneous Localization and Map Building for Servoing0 aCooperative Simultaneous Localization and Map Building for Servo aPadovacJuly10aEmbedded Control10aRobotics1 aDanesi, A1 aFontanelli, D1 aMurrieri, P1 aScordio, V G1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/cooperative-simultaneous-localization-and-map-building-servoing.html00566nas a2200157 4500008004100000245006400041210006400105260002800169300001200197653002100209653001300230100001600243700001800259700001500277856011600292 2002 eng d00aControllo Ibrido di Veicoli su Ruote con Retroazione Visiva0 aControllo Ibrido di Veicoli su Ruote con Retroazione Visiva aENEA, FrascaticOctober a197-19910aEmbedded Control10aRobotics1 aMurrieri, P1 aFontanelli, D1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/controllo-ibrido-di-veicoli-su-ruote-con-retroazione-visiva.html01360nas a2200205 4500008004100000245005100041210005000092260002000142300001200162490000600174520076300180653002100943653001300964100001600977700001800993700001501011700001701026700001301043856009801056 2002 eng d00aVisual-servoed parking with limited view angle0 aVisualservoed parking with limited view angle bSpringer Verlag a254-2630 v53 aIn 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