{"title":"Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots","authors":"J. Piepmeier, P. A. Morgan","doi":"10.1115/imece2001/dsc-24623","DOIUrl":null,"url":null,"abstract":"\n An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"114 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/imece2001/dsc-24623","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.
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