Open Access Open Access  Restricted Access Subscription or Fee Access

Configuration Control of an Autonomous Vehicle under Nonholonomic and Field-of-View Constraints

Augie Widyotriatmo, Keum-Shik Hong

Abstract


In this paper, a configuration (position and orientation) control problem of a forklift under the fieldof view (FOV) constraint of a camera is considered. In designing a control law, three navigation variables (the distance error, two split angles of the orientation error) are utilized. The control problem is formulated as an asymptotic stabilization problem of the origin in the error space of the navigation variables, in which the orientation error associated with the direction of the vehicle to the goal point is constrained within the camera’s FOV. A barrier function (a continuous function whose value increases to infinity when its argument approaches the boundary of a constrained region) is used as a Lyapunov function candidate. The designed control law ensures the asymptotic stability of the origin, whereas the given constraint is never violated. The performance of the proposed method is compared with that without the FOV constraint. The effectiveness of the proposed method is demonstrated by experimental results of pallet picking.

Keywords


Configuration control, autonomous vehicle, forklift, nonholonomic constraint, visual servo, field-of-view constraint.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.