Visual Control of Wheeled Mobile Robots Unifying Vision and Control in Generic Approaches /
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 whee...
Guardado en:
| Autor principal: | |
|---|---|
| Otros Autores: | |
| Formato: | Libro electrónico |
| Lenguaje: | Inglés |
| Publicado: |
Cham :
Springer International Publishing : Imprint: Springer,
2014.
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| Colección: | Springer Tracts in Advanced Robotics,
103 |
| Materias: | |
| Acceso en línea: | http://dx.doi.org/10.1007/978-3-319-05783-5 |
| Aporte de: | Registro referencial: Solicitar el recurso aquí |
| LEADER | 03228Cam#a22004935i#4500 | ||
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| 020 | |a 9783319057835 | ||
| 024 | 7 | |a 10.1007/978-3-319-05783-5 |2 doi | |
| 050 | 4 | |a TJ210.2-211.495 | |
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| 100 | 1 | |a Becerra, Héctor . M. |9 261230 | |
| 245 | 1 | 0 | |a Visual Control of Wheeled Mobile Robots |h [libro electrónico] : ; |b Unifying Vision and Control in Generic Approaches / |c by Héctor . M Becerra, Carlos Sagués. |
| 260 | 1 | |a Cham : |b Springer International Publishing : |b Imprint: Springer, |c 2014. | |
| 300 | |a xii, 118 p. : |b il. | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 347 | |a text file |b PDF |2 rda | ||
| 490 | 1 | |a Springer Tracts in Advanced Robotics, |x 1610-7438 ; |v 103 | |
| 505 | 0 | |a 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. | |
| 520 | |a 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. | ||
| 650 | 0 | |a Engineering. |9 259622 | |
| 650 | 0 | |a Image processing. |9 259604 | |
| 650 | 0 | |a Control engineering. |9 259595 | |
| 650 | 0 | |a Robotics. |9 259596 | |
| 650 | 0 | |a Automation. |9 259787 | |
| 650 | 2 | 4 | |a Artificial Intelligence (incl. Robotics). |9 259846 |
| 650 | 2 | 4 | |a Control. |9 263886 |
| 650 | 2 | 4 | |a Computer Vision. |9 259927 |
| 700 | 1 | |a Sagués, Carlos, |9 261231 | |
| 776 | 0 | 8 | |i Printed edition: |z 9783319057828 |
| 856 | 4 | 0 | |u http://dx.doi.org/10.1007/978-3-319-05783-5 |
| 912 | |a ZDB-2-ENG | ||
| 929 | |a COM | ||
| 942 | |c EBK |6 _ | ||
| 950 | |a Engineering (Springer-11647) | ||
| 999 | |a SKV |c 27919 |d 27919 | ||