01483nas a2200181   4500008004100000245007800041210006900119260001500188300001400203520088200217653001301099100001501112700002001127700001801147700001301165700001501178856010801193       2008                        eng d00aOptimal Paths in a Constrained Image Plane for Purely Image-Based Parking0 aOptimal Paths in a Constrained Image Plane for Purely ImageBased  c22-26 Sept  a1673-16803 a<p>This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.</p>
10aRobotics1 aSalaris, P1 aBelo, F., A. W.1 aFontanelli, D1 aGreco, L1 aBicchi, A.  uhttp://95.110.227.47/publications/optimal-paths-constrained-image-plane-purely-image-based-parking.html