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A vision-based nonlinear decentralized controller for unmanned vehicles

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2 Author(s)
O. A. A. Orqueda ; Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK ; R. Fierro

This paper presents a vision-based control strategy for decentralized stabilization of unmanned vehicle (UV) formations. The key point of the algorithm is that it only requires knowledge of the leader-follower relative distance and bearing. The approach is based on an output feedback controller that uses a high-gain observer to estimate derivatives of UVs relative positions. Both data are measured using a pan-controlled camera on-board the following robot which eliminates sensitivity to information flow among vehicles. A Lyapunov stability analysis guarantees that the closed-loop system is stable and the formation error can be made arbitrarily small. A virtual environment and a vision system are used to validate the proposed methodology

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006