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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics

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Visual Control of Wheeled Mobile Robots - Unifying Vision and Control in Generic Approaches (Hardcover, 2014 ed.) Loot Price: R4,107
Discovery Miles 41 070
Visual Control of Wheeled Mobile Robots - Unifying Vision and Control in Generic Approaches (Hardcover, 2014 ed.): Hector M....

Visual Control of Wheeled Mobile Robots - Unifying Vision and Control in Generic Approaches (Hardcover, 2014 ed.)

Hector M. Becerra, Carlos Sagues

Series: Springer Tracts in Advanced Robotics, 103

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Loot Price R4,107 Discovery Miles 41 070 | Repayment Terms: R385 pm x 12*

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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: March 2014
First published: 2014
Authors: Hector M. Becerra • Carlos Sagues
Dimensions: 235 x 155 x 14mm (L x W x T)
Format: Hardcover
Pages: 118
Edition: 2014 ed.
ISBN-13: 978-3-319-05782-8
Categories: Books > Computing & IT > Applications of computing > Artificial intelligence > General
Books > Computing & IT > Applications of computing > Image processing > General
Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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LSN: 3-319-05782-0
Barcode: 9783319057828

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