Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking

Paolo Salaris (1) , Felipe Augusto Weileman Belo , Daniele Fontanelli (2) , Luca Greco (3) , Antonio Bicchi (4)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 DISI - Dipartimento di Ingegneria e Scienza dell'Informazione
3 L2S - Laboratoire des signaux et systèmes
4 IIT - Istituto Italiano di Tecnologia

This paper presents a correct solution to the optimal visual feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject [2] has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of [2] turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

Domaines: Automatique / Robotique

Paolo Salaris, Felipe Augusto Weileman Belo, Daniele Fontanelli, Luca Greco, Antonio Bicchi. Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking. Int. Conf. on Intelligent Robots and Systems (IROS 2008), Sep 2008, Nice, France. pp.1673-1680. ⟨hal-01322840⟩