Adaptive state space control of a camera platform for an autonomous ground vehicle

Unterholzner, Alois; Wünsche, Hans-Joachim

doi:10.1109/ivs.2009.5164344

Cited by 4 publications

(14 citation statements)

References 5 publications

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“…by a visual object tracking module. In [5] we achieved satisfactory results for the tracking problem with an adaptive state-space control law. For smooth pursuit movements we still use state-space control.…”

Section: Introductionmentioning

confidence: 82%

“…being the signum function. The angular position dependent disturbance torque from [5] is augmented with a torsion-spring model c · ϕ, since the disturbance torque resulting from twisted cables can no longer be neglected:…”

Section: Dynamic Modelmentioning

confidence: 99%

“…Then (7) can be written as linear regression and we are able to use a Recursive Least Squares (RLS) parameter estimator with parameter projection [14], [5].…”

Section: Parameter Estimationmentioning

confidence: 99%

“…Section V-A gives only a brief description of the derivation of the state-space control law, since the design is analog to [5]. The design of the adaptive slidingmode control law is presented in section V-B in more detail.…”

Section: Controllermentioning

confidence: 99%

“…In [5] the derived controller is also used for saccades. However fast saccades are only achievable if the actuator saturates, which implies that the control loop is no longer linear.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid adaptive control of an active multi-focal vision system

Unterholzner

Wuensche

2010

2010 IEEE Intelligent Vehicles Symposium

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Active multi-focal vision systems are designed to perform visual tasks such as saccades and smooth pursuit movements. Saccades are fast movements to a given position, which is a time-optimal control problem. Smooth pursuit movement is used to follow moving objects and is a tracking control problem. Therefore we use a hybrid approach for the control of our vision system. For saccades we use sliding-mode control with a switching line, designed such that nearly time-optimal control performance is achieved. For smooth pursuit movement we use state-space control to attain adequate tracking performance. To widen the applicability of our multi-focal vision system, it is designed such that cameras are easily exchangeable. Thus system dynamics is subject to change, which implies the need for adaptive control. This paper presents the design of the resulting hybrid adaptive controller together with experimental results.

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Section: Introductionmentioning

confidence: 82%

Section: Dynamic Modelmentioning

confidence: 99%

“…Then (7) can be written as linear regression and we are able to use a Recursive Least Squares (RLS) parameter estimator with parameter projection [14], [5].…”

Section: Parameter Estimationmentioning

confidence: 99%

Section: Controllermentioning

confidence: 99%

“…In [5] the derived controller is also used for saccades. However fast saccades are only achievable if the actuator saturates, which implies that the control loop is no longer linear.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid adaptive control of an active multi-focal vision system

Unterholzner

Wuensche

2010

2010 IEEE Intelligent Vehicles Symposium

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Adaptive MIMO pole placement control for commissioning of a rotor system with active magnetic bearings

et al. 2020

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Traffic sign detection in dual-focal active camera system

Yendo

Tehrani

et al. 2011

2011 IEEE Intelligent Vehicles Symposium (IV)

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Traffic sign recognition systems can be applied to assist drivers and improve the traffic safety. High resolution image of traffic sign can improve the recognition result, especially for some complex traffic signs. In this paper, a dual-focal active camera system is proposed to obtain a high resolution image of traffic sign. In the system an active telephoto camera is equipped as an assistant of a wide angle camera. To make the proposed system correctly capture a high resolution image of traffic sign, the shape, color features and the relationship between continuous frames are used together in the traffic sign detection. The experiment results demonstrate that the proposed method makes the dual-focal active camera system effectively work when the system is installed on an automobile and moves on the road.

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Adaptive state space control of a camera platform for an autonomous ground vehicle

Cited by 4 publications

References 5 publications

Hybrid adaptive control of an active multi-focal vision system

Hybrid adaptive control of an active multi-focal vision system

Adaptive MIMO pole placement control for commissioning of a rotor system with active magnetic bearings

Traffic sign detection in dual-focal active camera system

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