Visual Control of Wheeled Mobile Robots: Unifying Vision and Control in Generic Approaches: 103 (Springer Tracts in Advanced Robotics, 103) - Image 1

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

Name: Visual Control of Wheeled Mobile Robots: Unifying Vision and Control in Generic Approaches: 103 (Springer Tracts in Advanced Robotics, 103)
Brand: Springer
Price: 64.54 GBP
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Product 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. From the Back Cover 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.

Product Specifications

Brand: Springer
Format: paperback
ASIN: 331935907X
Category: Books > Subjects > Computing & Internet > Computer Science > AI & Machine Learning
Domain: Amazon UK
Release Date: 03 September 2016
Listed Since: 25 August 2016

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

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