Visual Control of Wheeled Mobile Robots

Unifying Vision and Control in Generic Approaches

Héctor . M Becerra, Carlos Sagüés (Autoren)

Buch | Softcover

XII, 118 Seiten

2016 | 1. Softcover reprint of the original 1st ed. 2014
Springer International Publishing (Verlag)
978-3-319-35907-6 (ISBN)

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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.

Introduction.- Robust visual control based on the epipolar geometry.- A robust control scheme based on the trifocal tensor.- Dynamic pose-estimation for visual control.- Conclusions.

Erscheinungsdatum	16.09.2016
Reihe/Serie	Springer Tracts in Advanced Robotics
Zusatzinfo	XII, 118 p. 49 illus., 24 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Grafik / Design ► Digitale Bildverarbeitung
	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	Artificial Intelligence • artificial intelligence (incl. robotics) • automatic control engineering • computer vision • Control • Engineering • Epipolar Geometry • Image-based Visual Serving • Image Processing • image processing and computer vision • Mobile Robots • Multi-view Geometries • Nonlinear Observability • Omnidirectional Visual Serving • Position-based Visual Serving • Robotics • Robotics and Automation • sliding mode control • Trifocal Tensor
ISBN-10	3-319-35907-X / 331935907X
ISBN-13	978-3-319-35907-6 / 9783319359076
Zustand	Neuware