Vision-Based Control for Nonholonomic Vehicles

  • Miguel ArandaEmail author
  • Gonzalo López-Nicolás
  • Carlos Sagüés
Part of the Advances in Industrial Control book series (AIC)


This chapter continues the study of methods for vision-based stabilization of mobile robots to desired locations in an environment, focusing on an aspect that is critical for successful real-world implementation, but often tends to be overlooked in the literature: the control inputs employed must take into account the specific motion constraints of commercial robots, and should conform with feasibility, safety, and efficiency requirements. With this motivation, the chapter proposes a visual control approach based on sinusoidal inputs designed to stabilize the pose of a robot with nonholonomic motion constraints. All the information used in the control scheme is obtained from omnidirectional vision, in a robust manner, by means of the 1D trifocal tensor. The method is developed considering particularly a unicycle kinematic robot model, and its contribution is that sinusoids are used in such a way that the generated vehicle trajectories are feasible, smooth, and versatile, improving over previous sinusoidal-based control works in terms of efficiency and flexibility. Furthermore, the analytical expressions for the evolution of the robot’s state are provided and used to propose a novel state-feedback control law. The stability of the proposed approach is analyzed in the chapter, which also reports on results from simulations and experiments with a real robot, carried out to validate the methodology.


Obstacle Avoidance Nonholonomic System Real Robot Nonholonomic Constraint Reference View 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Miguel Aranda
    • 1
    Email author
  • Gonzalo López-Nicolás
    • 2
  • Carlos Sagüés
    • 2
  1. 1.ISPRSIGMA Clermont, Institut PascalAubièreFrance
  2. 2.Instituto de Investigación en Ingeniería de AragónUniversidad de ZaragozaZaragozaSpain

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