Proceedings ArticleDOI
Visual servo control for wheeled robot platooning based on homography
TLDR
In this paper, a visual servo control approach based on homography for the leader-follower platooning system which consists of two wheeled robots is presented, which only requires the image taken under the ideal position with respect to the leader and corresponding distance to the plane pattern attach to leader robot.Abstract:
This paper presents a visual servo control approach based on homography for the leader-follower platooning system which consists of two wheeled robots. The proposed approach only requires the image taken under the ideal position with respect to the leader and corresponding distance to the plane pattern attach to leader robot. A virtual robot can be generated according to the homography and leader robot, thus, the platooning control is transformed into the trajectory tracking problem in this paper. Instead of common homography decomposition, the entries of homography matrix are used to design the estimator for velocity of the leader and control law to drive the follower to reach desired position in leader-follower platooning system under the satisfaction of the nonholonomic constraints. In the end, the simulation verifies the feasibility and effectiveness of the approach.read more
Citations
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Proceedings ArticleDOI
Comparison of PID and Fuzzy Controller for Path Tracking Control of Autonomous Electrical Vehicles
Youcef Zennir,Sami Allou +1 more
TL;DR: A comparison study of application two PID and fuzzy controller to control platonning vehicles with a kinematic model of vehicles with 3D simulation developed with matlab, Simulink and v-rep software.
Journal ArticleDOI
Alignment control using visual servoing and mobilenet single-shot multi-box detection (SSD): a review
TL;DR: This review paper aims to provide comprehensive studies on the recent application of visual servoing and DNN, and provides a comparison of Mobilenet-SSD with other sophisticated models.
Patent
Mobile robot formation following method based on homography
TL;DR: In this paper, a mobile robot formation following method based on homography is proposed, where a homography matrix is used to construct a virtual robot capable of reflecting real-time position poses of a following robot in the ideal formation pattern and an original formation problem is transformed into a trajectory tracking problem of the virtual robot.
Proceedings ArticleDOI
A Comparative Study of PID-PSO and Fuzzy Controller for Path Tracking Control of Autonomous Ground Vehicles.
Sami Allou,Youcef Zennir +1 more
Book ChapterDOI
Issues, Challenges, and Progress of Autonomous Robotic Platoons
TL;DR: In this paper , the authors introduce the user to the concept of autonomous platooning, present the current state-of-the-art of autonomous robotic platoons and issues that they still face, and ultimately, discuss their progress and future trends.
References
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Journal ArticleDOI
Image moments: a general and useful set of features for visual servoing
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