Visual Control of Wheeled Mobile Robots : Unifying Vision and Control in Generic Approaches, Hardback Book

Visual Control of Wheeled Mobile Robots : Unifying Vision and Control in Generic Approaches Hardback

Part of the Springer Tracts in Advanced Robotics series

Description

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.

Information

  • Format: Hardback
  • Pages: 118 pages, 24 Illustrations, color; 25 Illustrations, black and white; XII, 118 p. 49 illus., 24 ill
  • Publisher: Springer International Publishing AG
  • Publication Date:
  • Category: Automatic control engineering
  • ISBN: 9783319057828

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Also by Hector M. Becerra