Visual Control of Wheeled Mobile Robots - Unifying Vision and Control in Generic Approaches (Paperback, Softcover reprint of the original 1st ed. 2014)

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.

General

Imprint:	Springer International Publishing AG
Country of origin:	Switzerland
Series:	Springer Tracts in Advanced Robotics, 103
Release date:	September 2016
First published:	2014
Authors:	Héctor . M Becerra • Carlos Sagüés
Dimensions:	235 x 155 x 7mm (L x W x T)
Format:	Paperback
Pages:	118
Edition:	Softcover reprint of the original 1st ed. 2014
ISBN-13:	978-3-319-35907-6
Categories:	Books > Computing & IT > General Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
LSN:	3-319-35907-X
Barcode:	9783319359076

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