In this paper, a method of 3D reconstruction from an image sequence acquired by a moving camera is presented. The internal parameters and the motion of the camera are absolutely unknown. Firstly, the features of the r...
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In this paper, a method of 3D reconstruction from an image sequence acquired by a moving camera is presented. The internal parameters and the motion of the camera are absolutely unknown. Firstly, the features of the reconstruction object are detected in each image, and are matched between image pairs. A new method of angel filtering is used to eliminate false correspondences. Fundamental matrix can be computed and projective reconstruction is set up. Secondly, camera self-calibration method is used to get the internal parameters. Epipolar geometry is used to obtain a pairwise image rectification. Dense correspondence matches are then computed. Finally, the 3D model is reconstructed based on the self-calibrated result and dense correspondences map. The feasibility of this approach is illustrated by the experiment.
This paper presents a receding-horizon leader-follower (RH-LF) controller for addressing the formation control problem of multiple nonholonomic mobile robots. The issues to be investigated include separation, bearing,...
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This paper presents a receding-horizon leader-follower (RH-LF) controller for addressing the formation control problem of multiple nonholonomic mobile robots. The issues to be investigated include separation, bearing, and orientation deviation control between the leader and the followers, where the orientation deviation control is especially important to control precision. After the leader-follower formation problem is posed to a formation tracking problem, a receding-horizon formation tracking controller is proposed, which guarantees asymptotic convergence of the formation tracking error to zero. Simulations are performed to verify the effectiveness of the proposed control strategy.
作者：
M. FeemsterD.M. DawsonA. BehalW. DixonMatthew Feemster received the B.S degree in Electrical Engineering from Clemson University
Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962
in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology
Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no
In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects...
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In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.
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