| Demonstration of the daisy-chaining tracking controller of a moving unmanned ground vehicle (UGV) using a moving airborne monocular camera. Description: The desired trajectory for the UGV is shown in red color which is captured a priori by a moving camera (magenta). The control objective for the UGV (green) is to track the desired trajectory using an image feedback from a moving monocular camera (blue). The stationary objects on the ground (building, etc.) are used to daisy-chain such that the operative range of the UGV-camera pair is theoretically unbounded; these objects are also used to evaluate the necessary homography relationship between the current UGV pose and the time-varying desired trajectory. The time-varying position and orientation of the camera (magenta and blue) is unknown. For controller development please refer to: SS Mehta, G. Hu, N. Gans, WE Dixon, "A Daisy-Chaining Visual Servoing Approach with Applications in Tracking, Localization, and Mapping," in Robot Localization and Map Building, Edited by Hanafiah Yussof, In-Tech Press, ISBN 978-953-7619-83-1. S. Mehta, G. Hu, N. Gans, and WE Dixon, "Adaptive Vision-Based Collaborative Tracking Control of an UGV via a Moving Airborne Camera: A Daisy Chaining Approach," IEEE Conference on Decision and Control (CDC), San Diego, California, 2006, pp. 3867-3872. |
