Improvement of Visual Path Following through Velocity Variation
نویسندگان
چکیده
منابع مشابه
Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملNeural-swarm visual saliency for path following
This paper extends an existing saliency-based model for path detection and tracking so that the appearance of the path being followed can be learned and used to bias the saliency computation process. The goal is to reduce ambiguities in the presence of strong distractors. In both original and extended path detectors, neural and swarm models are layered in order to attain a hybrid solution. With...
متن کاملA 3d Path-following Velocity-tracking Controller for Autonomous Vehicles
This paper addresses the path-following problem of steering an autonomous vehicle along a desired path, while tracking a predefined velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which is specially suited for a Dmethodology controller implementation. The error space exhibits a high-degree of directio...
متن کاملPath Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملOptimal Velocity Control Method in Path Following Control Problem
Path following control problem is treated in recent years. In many past results of path following control, it is assumed the plant has single-input and the velocity of the plant is considered as constant value. However, when we have to reduce traveling time, we must control velocity of the plant in tracking problem. In this paper, velocity control and path following task are achieved at the sam...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Institute of Control, Robotics and Systems
سال: 2011
ISSN: 1976-5622
DOI: 10.5302/j.icros.2011.17.4.375