Homography-Based Visual Control of Nonholonomic Vehicles
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Homography-Based Visual Control of Nonholonomic Vehicles •Monocular visual control based on the homography matrix elements •Nonholonomic motion constrains •Control law design by the input-output linearization of the system •No homography decomposition or depth estimation is needed G. López-Nicolás, C. Sagüés and J.J. Guerrero DIIS – I3A, Universidad de Zaragoza, Spain Robot trajectory
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Homography-Based Visual Control of Nonholonomic Vehicles. G. López-Nicolás , C. Sagüés and J.J. Guerrero DIIS – I3A, Universidad de Zaragoza, Spain. Monocular visual control based on the homography matrix elements Nonholonomic motion constrains - PowerPoint PPT Presentation
Transcript of Homography-Based Visual Control of Nonholonomic Vehicles
Homography-Based Visual Control of Nonholonomic Vehicles
• Monocular visual control based on the homography matrix elements
• Nonholonomic motion constrains• Control law design by the input-output
linearization of the system• No homography decomposition or depth
estimation is needed
G. López-Nicolás, C. Sagüés and J.J. GuerreroDIIS – I3A, Universidad de Zaragoza, Spain
Robot trajectory
