Author:Burke, Michael GDate:Nov 2009This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a ...Read more
Author:Matebese, Belinda T; Withey, Daniel J; Banda, MKDate:Sep 2020The motion planning for a mobile, autonomous system is solved using the Leapfrog algorithm from optimal control. Numerical optimal control has some advantages for motion planning. Differential constraints can be included in the problem ...Read more
Author:Burke, Michael G; Sabatta, DDate:Nov 2009Global Positioning Systems (GPS) provide an effective means of outdoor localisation. Unfortunately they are subject to a variety of errors, particularly in cluttered environments where GPS signal is not always available. Whilst GPS positional ...Read more
Author:Burke, Michael GDate:Mar 2011This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo ...Read more