Vision-based control for nonholonomic mobile robotic systems

Project Information

Grant agreement ID: FMBI950321

Project closed

Start date 1 March 1996

End date 28 February 1997

Funded under

• Specific research and technological development programme in the field of the training and mobility of researchers, 1994-1998

Total cost No data

EU contribution No data

Coordinated by

Institut National de Recherches en Informatique et en Automatique - INRIA
France

Objective

Nonholonomic Robotic Systems are a class of system with significant practical and theoretical interest, where nonholonomic constraints restrict the instantaneous motion of the system. Robotic systems in this class, include wheeled mobile robots, orbiting spacecraft equipped with manipulator arms and dextrous robotic hands manipulating objects. The presence of nonholonomic constraints makes problematic the application of traditional Control, Sensing and Motion Planning schemes for mobile robots with on-board sensors.
The extension of visual servoing and, in particular, of the task function framework to nonholonomic mobile robotic systems is the primary objective of this project. This will be attempted by exploiting novel control-theoretic advances in the closed-loop control of these systems. It is expected that the first 9 months of the project will be devoted to a review of the state of the art in this area, to establishing the theoretical framework of this approach and to testing it by computer simulations, while the remaining 3 months will be devoted to implementations and experiments with ICARE's experimental testbed, a mobile nonholonomic cart. carrying a hand-eye system and a sonar belt.

Fields of science (EuroSciVoc)

CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques.

• engineering and technology › mechanical engineering › vehicle engineering › aerospace engineering › astronautical engineering › spacecraft
• engineering and technology › electrical engineering, electronic engineering, information engineering › electronic engineering › sensors
• natural sciences › mathematics › applied mathematics › mathematical model

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Programme(s)

• FP4-TMR - Specific research and technological development programme in the field of the training and mobility of researchers, 1994-1998

Topic(s)

• 0302 - Post-doctoral research training grants
• TM32 - Adaptive Systems and Robotics

Call for proposal

Data not available

Funding Scheme

RGI - Research grants (individual fellowships)

Coordinator

Institut National de Recherches en Informatique et en Automatique - INRIA

• EU contribution: No data
• Address: Route des Lucioles ; 06902 Sophia-Antipolis ; France
• Total cost: No data

Participants (1)

Not available

Greece

• EU contribution: No data
• Total cost: No data