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http://dx.doi.org/10.7736/KSPE.2013.30.1.53

Vision-Based Collision-Free Formation Control of Multi-UGVs using a Camera on UAV  

Choi, Francis Byonghwa (School of Mechanical & Aerospace Engineering, Seoul Nat'l Univ. and IAMD)
Ha, Changsu (School of Mechanical & Aerospace Engineering, Seoul Nat'l Univ. and IAMD)
Lee, Dongjun (School of Mechanical & Aerospace Engineering, Seoul Nat'l Univ. and IAMD)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.1, 2013 , pp. 53-58 More about this Journal
Abstract
In this paper, we present a framework for collision avoidance of UGVs by vision-based control. On the image plane which is created by perspective camera rigidly attached to UAV hovering stationarily, image features of UGVs are to be controlled by our control framework so that they proceed to desired locations while avoiding collision. UGVs are assumed as unicycle wheeled mobile robots with nonholonomic constraint and they follow the image feature's movement on the ground plane with low-level controller. We used potential function method to guarantee collision prevention, and showed its stability. Simulation results are presented to validate capability and stability of the proposed framework.
Keywords
Vision-based Control; Collision Avoidance; Potential Function Method;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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