Multi-purpose Control of a Moving Object Using Computer Vision Algorithms

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Abstract

The article is devoted to the design of control systems for moving objects using computer vision algorithms. The relevance of this research area is associated with the increasing use of autonomous vehicles for solving practically important tasks without human intervention. However, many of these tasks are impossible or inefficient to solve without using of visual information. The problem of visual positioning of a moving object equipped with an onboard video camera is considered. The purpose of the control is to provide the desired position of some observed object in the image plane of the camera. A mathematical model of the joint dynamics of a moving object and a set of observed points in the image plane is derived. Such joint dynamics are taken into account in control design because the camera, mounted on board, has restrictions on freedom of movement in space and on the speed of these movements. A multi-purpose approach to the synthesis of the control law is proposed, allowing to ensure the fulfillment of a set of requirements for the quality of processes in a closed-loop system in various regimes. The choice of adjustable elements of a multi-purpose structure is discussed. The application of the approach is illustrated by an example of control of a wheeled robot. The results of simulation performed in MATLAB/Simulink environment are presented.

Original languageEnglish
Title of host publicationConvergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers
EditorsVladimir Sukhomlin, Elena Zubareva
PublisherSpringer Nature
Pages231-241
Number of pages11
ISBN (Print)9783030374358
DOIs
StatePublished - 2020
Event3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018 - Moscow, Russian Federation
Duration: 29 Nov 20182 Dec 2018

Publication series

NameCommunications in Computer and Information Science
Volume1140 CCIS
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018
CountryRussian Federation
CityMoscow
Period29/11/182/12/18

Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

Keywords

  • Computer vision
  • External disturbances
  • Moving object
  • Multi-purpose control
  • Visual positioning
  • Wheeled robot

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