Visual Control of Wheeled Mobile Robots : Unifying Vision and Control in Generic Approaches Paperback / softback
by Hector . M Becerra, Carlos Sagues
Part of the Springer Tracts in Advanced Robotics series
Paperback / softback
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
-
Item not Available
- Format:Paperback / softback
- 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:03/09/2016
- Category:
- ISBN:9783319359076
Other Formats
- Hardback from £94.79
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Information
-
Item not Available
- Format:Paperback / softback
- 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:03/09/2016
- Category:
- ISBN:9783319359076
