A Lyapunov-Based Approach to Visual Servo Control and Path Planning
Warren Dixon
University of Florida
The Euclidean position and orientation (i.e., pose) of an unmanned
vehicle (UV) is typically required for autonomous navigation and
control. Often the pose of an UV is determined by a global positioning
system (GPS) or an inertial measurement unit (IMU). However, GPS may
not be available, and IMUs can drift and accumulate errors over time
in a similar manner as dead reckoning. Given recent advances in image
extraction/interpretation technology, an interesting approach to
overcome the pose measurement, navigation, and control problems is to
utilize a vision system. This presentation will describes a series of
advances in visual servo control and path planning that are obtained
through the use of Lyapunov-based methods. Multi-image photogrammetry
will be described as it relates to developing a measurable translation
and rotation error system (via a homography decomposition) in both
Euclidean and quaternion representations. Visual servo tracking
control results will be described for a camera moving with
unconstrained motion and with nonholonomic constraints. The design of
a Lyapunov-based path-planning method that ensures targets remain in
the camera field of view will be presented. Motivated by field of view
issues, discussions will also focus on the use of Lyapunov tools to
recover range information from affine and nonaffine paracatadioptric
imaging systems. A new Daisy-Chaining formulation for the visual servo
control problem will also be presented. Concluding remarks will point
to future directions in visual servo control.
Bio: Dr. Warren Dixon received his Ph.D. degree in 2000 from the
Department of Electrical and Computer Engineering from Clemson
University. After completing his doctoral studies he was selected as
an Eugene P. Wigner Fellow at Oak Ridge National Laboratory (ORNL)
where he worked in the Robotics and Energetic Systems Group of the
Engineering Science and Technology Division. In 2004, Dr. Dixon joined
the faculty of the University of Florida in the Mechanical and
Aerospace Engineering Department. Dr. Dixon
Deepak Ramachandran
Last modified: Mon Mar 27 11:36:13 CST 2006