Omnidirectional Vision-Based Formation Control∗
نویسندگان
چکیده
We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with paracatadioptric cameras. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. First, we present an algorithm for infinitesimal multi-body motion segmentation from multiple paracatadioptric views. We derive a rank constraint on the optical flows across many frames, from which one can estimate the position of each leader in the paracatadioptric image plane of the follower. Then, we study the relative leader-follower kinematics in the catadioptric image plane and design a tracking controller for each follower using feedback linearization techniques. Finally, we present experimental results on multi-body motion segmentation of a real image sequence and simulation results on vision-based formation control.
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