Vision-Based Localization for Leader-Follower Formation Control

被引：119
|
作者：
Mariottini, Gian Luca [1 ]
Morbidi, Fabio [2 ]
Prattichizzo, Domenico [2 ]
Valk, Nicholas Vander [3 ]
Michael, Nathan [3 ]
Pappas, George [3 ]
Daniilidis, Kostas [3 ]
机构：
[1] Univ Minnesota, Dept Comp Sci & Engn, Minneapolis, MN 55455 USA
[2] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy
[3] Univ Penn, Gen Robot Automat Sensing & Percept Lab, Philadelphia, PA 19104 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 06期
基金：
美国国家科学基金会;
关键词：
Feedback linearization; formation control; mobile robots; nonlinear observability; panoramic cameras;
D O I：
10.1109/TRO.2009.2032975
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper deals with vision-based localization for leader-follower formation control. Each unicycle robot is equipped with a panoramic camera that only provides the view angle to the other robots. The localization problem is studied using a new observability condition valid for general nonlinear systems and based on the extended output Jacobian. This allows us to identify those robot motions that preserve the system observability and those that render it nonobservable. The state of the leader-follower system is estimated via the extended Kalman filter, and an input-state feedback control law is designed to stabilize the formation. Simulations and real-data experiments confirm the theoretical results and show the effectiveness of the proposed formation control.
引用
收藏
页码：1431 / 1438
页数：8
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