Visual Control of Wheeled Mobile Robots: Unifying Vision and Control in Generic Approaches (2014) (Springer Tracts in Advanced Robotics #103)

Synopsis

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.

Copyright:

2014

Book Details

Book Quality:

Publisher Quality

ISBN-13:

9783319057835

Related ISBNs:

9783319057828

Publisher:

Springer International Publishing

Date of Addition:

08/28/19

Copyrighted By:

N/A

Adult content:

No

Language:

English

Has Image Descriptions:

No

Categories:

Nonfiction, Art and Architecture, Computers and Internet, Technology

Submitted By:

Bookshare Staff

Usage Restrictions:

This is a copyrighted book.