Multi-Reference Visual Servo Control of an Unmanned Ground Vehicle

A cooperative visual servo regulation controller is developed in this paper with the objective to position an unmanned ground vehicle (UGV) to a desired position and orientation using the image feedback from a moving airborne monocular camera. Fusing an innovative daisy chaining strategy with the geometric reconstruction method, the Euclidean position of the UGV and reference objects is identified to provide simultaneous localization and mapping (SLAM) of the UGV. Asymptotic regulation is proved through a Lyapunov-based analysis of the UGV.

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