01467nas a2200181   4500008004100000245011500041210006900156260001400225300001200239490000700251520081800258653002101076653001301097100001601110700001801126700001501144856012601159       2004                        eng d00aA Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback0 aHybridControl Approach to the Parking Problem of a Wheeled Vehic  cApril-May  a437-4480 v233 a<p>In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.</p>
10aEmbedded Control10aRobotics1 aMurrieri, P1 aFontanelli, D1 aBicchi, A.  uhttp://95.110.227.47/publications/hybrid-control-approach-parking-problem-wheeled-vehicle-using-limited-view-angle-visual