Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Vision-Based Collision-Free Formation Control of Multi-UGVs using a Camera on UAV

무인비행로봇에 장착된 카메라를 이용한 다중 무인지상로봇의 충돌 없는 대형 제어기법

  • 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)
  • 최병화 (서울대학교 기계항공공학부) ;
  • 하창수 (서울대학교 기계항공공학부) ;
  • 이동준 (서울대학교 기계항공공학부)
  • Received : 2012.11.13
  • Accepted : 2012.11.21
  • Published : 2013.01.01
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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.

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References

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