A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

Dejun Guo; Hesheng Wang; Weidong Chen; Ming Liu; Zeyang Xia; Kam K. Leang

doi:10.1109/ICRA.2017.7989438

A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

Dejun Guo
, Hesheng Wang^*
, Weidong Chen
, Ming Liu
, Zeyang Xia
, Kam K. Leang

^*Corresponding author for this work

Department of Computer Science and Engineering

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

8 Citations (Scopus)

Abstract

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3792-3797
Number of pages	6
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989438
Publication status	Published - 21 Jul 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Adaptive control
mobile robot
visual servoing

Access to Document

10.1109/ICRA.2017.7989438

Cite this

Guo, D., Wang, H., Chen, W., Liu, M., Xia, Z., & Leang, K. K. (2017). A unified leader-follower scheme for mobile robots with uncalibrated on-board camera. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 3792-3797). Article 7989438 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989438

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title = "A unified leader-follower scheme for mobile robots with uncalibrated on-board camera",

abstract = "This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.",

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Guo, D, Wang, H, Chen, W, Liu, M, Xia, Z & Leang, KK 2017, A unified leader-follower scheme for mobile robots with uncalibrated on-board camera. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989438, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3792-3797, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989438

A unified leader-follower scheme for mobile robots with uncalibrated on-board camera. / Guo, Dejun; Wang, Hesheng; Chen, Weidong et al.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3792-3797 7989438 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

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AU - Guo, Dejun

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AU - Leang, Kam K.

PY - 2017/7/21

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N2 - This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

AB - This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

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KW - visual servoing

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Guo D, Wang H, Chen W, Liu M, Xia Z, Leang KK. A unified leader-follower scheme for mobile robots with uncalibrated on-board camera. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3792-3797. 7989438. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2017.7989438

A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

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Keywords

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