FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3119042051> ?p ?o ?g. }

• W3119042051 endingPage "2083" @default.
• W3119042051 startingPage "2073" @default.
• W3119042051 abstract "In this article, a virtual-goal-guided rapidly exploring random tree (RRT)-based visual servoing approach is proposed for nonholonomic mobile robots to simultaneously satisfy the field-of-view (FOV) constraint and the velocity constraints during the motion toward the desired pose. The presented approach contains two parts: 1) trajectory planning in the scaled Euclidean space and 2) trajectory tracking control. For the trajectory planning part, a new virtual-goal-guided RRT algorithm is designed to guarantee the FOV constraint and the velocity constraints by iteratively exploring the scaled Euclidean space in the presence of unknown image depth. Specifically, a virtual goal directly behind the desired pose is set to guide the tree to extend laterally into the area wherein the robot is easier to satisfy the FOV constraint. In addition, the lateral extension of the tree also helps decrease the lateral error of the robot as much as possible. Following each successful extension toward the virtual goal node, a greedy extension from the newly explored node to the desired pose is attempted using a polar stabilization controller, so that the planned trajectory can accurately arrive at the desired pose. Each newly explored edge in the scaled space is projected into the image space to check for the FOV limit. For the visual tracking part, the final searched trajectory in the scaled space is first transformed into image feature trajectories, which are then tracked by an image-based visual tracking controller. Experiments validate the effectiveness of the proposed approach." @default.
• W3119042051 created "2021-01-18" @default.
• W3119042051 creator A5025392915 @default.
• W3119042051 creator A5035411450 @default.
• W3119042051 creator A5080943768 @default.
• W3119042051 date "2022-04-01" @default.
• W3119042051 modified "2023-10-02" @default.
• W3119042051 title "Virtual-Goal-Guided RRT for Visual Servoing of Mobile Robots With FOV Constraint" @default.
• W3119042051 cites W1777480005 @default.
• W3119042051 cites W1971086298 @default.
• W3119042051 cites W1980765536 @default.
• W3119042051 cites W1986024064 @default.
• W3119042051 cites W1995831026 @default.
• W3119042051 cites W2000359213 @default.
• W3119042051 cites W2009124734 @default.
• W3119042051 cites W2032204682 @default.
• W3119042051 cites W2042856586 @default.
• W3119042051 cites W2069710460 @default.
• W3119042051 cites W2079741176 @default.
• W3119042051 cites W2082991751 @default.
• W3119042051 cites W2091763021 @default.
• W3119042051 cites W2097671019 @default.
• W3119042051 cites W2098658432 @default.
• W3119042051 cites W2129086727 @default.
• W3119042051 cites W2133538328 @default.
• W3119042051 cites W2133858305 @default.
• W3119042051 cites W2136323427 @default.
• W3119042051 cites W2345111710 @default.
• W3119042051 cites W2414947275 @default.
• W3119042051 cites W2466393651 @default.
• W3119042051 cites W2538619708 @default.
• W3119042051 cites W2544719997 @default.
• W3119042051 cites W2611972117 @default.
• W3119042051 cites W2622027261 @default.
• W3119042051 cites W2622287508 @default.
• W3119042051 cites W2741019409 @default.
• W3119042051 cites W2779675674 @default.
• W3119042051 cites W2794029453 @default.
• W3119042051 cites W2886946457 @default.
• W3119042051 cites W2902731060 @default.
• W3119042051 cites W2943764792 @default.
• W3119042051 cites W2945228227 @default.
• W3119042051 cites W2993346046 @default.
• W3119042051 doi "https://doi.org/10.1109/tsmc.2020.3044347" @default.
• W3119042051 hasPublicationYear "2022" @default.
• W3119042051 type Work @default.
• W3119042051 sameAs 3119042051 @default.
• W3119042051 citedByCount "11" @default.
• W3119042051 countsByYear W31190420512021 @default.
• W3119042051 countsByYear W31190420512022 @default.
• W3119042051 countsByYear W31190420512023 @default.
• W3119042051 crossrefType "journal-article" @default.
• W3119042051 hasAuthorship W3119042051A5025392915 @default.
• W3119042051 hasAuthorship W3119042051A5035411450 @default.
• W3119042051 hasAuthorship W3119042051A5080943768 @default.
• W3119042051 hasConcept C10912380 @default.
• W3119042051 hasConcept C113174947 @default.
• W3119042051 hasConcept C121332964 @default.
• W3119042051 hasConcept C1276947 @default.
• W3119042051 hasConcept C134306372 @default.
• W3119042051 hasConcept C13662910 @default.
• W3119042051 hasConcept C154945302 @default.
• W3119042051 hasConcept C19966478 @default.
• W3119042051 hasConcept C203479927 @default.
• W3119042051 hasConcept C2524010 @default.
• W3119042051 hasConcept C2775924081 @default.
• W3119042051 hasConcept C2776036281 @default.
• W3119042051 hasConcept C31972630 @default.
• W3119042051 hasConcept C33923547 @default.
• W3119042051 hasConcept C41008148 @default.
• W3119042051 hasConcept C47446073 @default.
• W3119042051 hasConcept C6557445 @default.
• W3119042051 hasConcept C86803240 @default.
• W3119042051 hasConcept C90509273 @default.
• W3119042051 hasConceptScore W3119042051C10912380 @default.
• W3119042051 hasConceptScore W3119042051C113174947 @default.
• W3119042051 hasConceptScore W3119042051C121332964 @default.
• W3119042051 hasConceptScore W3119042051C1276947 @default.
• W3119042051 hasConceptScore W3119042051C134306372 @default.
• W3119042051 hasConceptScore W3119042051C13662910 @default.
• W3119042051 hasConceptScore W3119042051C154945302 @default.
• W3119042051 hasConceptScore W3119042051C19966478 @default.
• W3119042051 hasConceptScore W3119042051C203479927 @default.
• W3119042051 hasConceptScore W3119042051C2524010 @default.
• W3119042051 hasConceptScore W3119042051C2775924081 @default.
• W3119042051 hasConceptScore W3119042051C2776036281 @default.
• W3119042051 hasConceptScore W3119042051C31972630 @default.
• W3119042051 hasConceptScore W3119042051C33923547 @default.
• W3119042051 hasConceptScore W3119042051C41008148 @default.
• W3119042051 hasConceptScore W3119042051C47446073 @default.
• W3119042051 hasConceptScore W3119042051C6557445 @default.
• W3119042051 hasConceptScore W3119042051C86803240 @default.
• W3119042051 hasConceptScore W3119042051C90509273 @default.
• W3119042051 hasFunder F4320321001 @default.
• W3119042051 hasFunder F4320323993 @default.
• W3119042051 hasFunder F4320335787 @default.
• W3119042051 hasFunder F4320336823 @default.
• W3119042051 hasIssue "4" @default.

• next