1 option
Visual Control of Wheeled Mobile Robots : Unifying Vision and Control in Generic Approaches / by Héctor . M Becerra, Carlos Sagüés.
- Format:
- Book
- Author/Creator:
- Becerra, Héctor . M., author.
- Sagüés, Carlos, author.
- Series:
- Springer tracts in advanced robotics 1610-7438 ; 103.
- Springer Tracts in Advanced Robotics, 1610-7438 ; 103
- Language:
- English
- Subjects (All):
- Robotics.
- Automation.
- Artificial intelligence.
- Automatic control.
- Optical data processing.
- Robotics and Automation.
- Artificial Intelligence.
- Control and Systems Theory.
- Image Processing and Computer Vision.
- Local Subjects:
- Robotics and Automation.
- Artificial Intelligence.
- Control and Systems Theory.
- Image Processing and Computer Vision.
- Physical Description:
- 1 online resource (XII, 118 pages 49 illustrations, 24 illustrations in color.)
- Edition:
- First edition 2014.
- Contained In:
- Springer Nature eBook
- Place of Publication:
- Cham : Springer International Publishing : Imprint: Springer, 2014.
- System Details:
- text file PDF
- Summary:
- Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima, and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.
- Contents:
- Introduction
- Robust visual control based on the epipolar geometry
- A robust control scheme based on the trifocal tensor
- Dynamic pose-estimation for visual control
- Conclusions.
- Local Notes:
- Acquired for the Penn Libraries with assistance from the Saul & Frances Gorn Fund.
- Other Format:
- Printed edition:
- ISBN:
- 978-3-319-05783-5
- Access Restriction:
- Restricted for use by site license.
The Penn Libraries is committed to describing library materials using current, accurate, and responsible language. If you discover outdated or inaccurate language, please fill out this feedback form to report it and suggest alternative language.