Abstract
This paper describes a formation control proposal for unicycle-type mobile robots under the leader-follower scheme with mounted camera. The control objective is determined directly in image space, hence this proposal corresponds with the Image-Based Visual Servoing (IBVS) alternative. Using the Lyapunov stability theory, two controllers are designed: one that depends partially on the parameters of the vision system and another one that is robust to the three-dimensional parameters of the features that are mapped to the image space (the image features). Finally, experiments on a soft real-time platform with satisfactory results are carried out to validate the proposed theory.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
