TY - GEN

T1 - Multi-purpose Control of a Moving Object Using Computer Vision Algorithms

AU - Sotnikova, Margarita V.

N1 - Funding Information: Supported by RFBR, research project № 18-37-00463. Publisher Copyright: © Springer Nature Switzerland AG 2020. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Computer vision

KW - External disturbances

KW - Moving object

KW - Multi-purpose control

KW - Visual positioning

KW - Wheeled robot

UR - http://www.scopus.com/inward/record.url?scp=85081057704&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/4827a68f-ae22-34f3-ad01-366d049dc297/

U2 - 10.1007/978-3-030-37436-5_21

DO - 10.1007/978-3-030-37436-5_21

M3 - Conference contribution

AN - SCOPUS:85081057704

SN - 9783030374358

T3 - Communications in Computer and Information Science

SP - 231

EP - 241

BT - Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers

A2 - Sukhomlin, Vladimir

A2 - Zubareva, Elena

PB - Springer Nature

T2 - 3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018

Y2 - 29 November 2018 through 2 December 2018

ER -