TY  - GEN
TY  - GEN
T1  - Visual Control of Wheeled Mobile Robots Unifying Vision and Control in Generic Approaches
T2  - Springer Tracts in Advanced Robotics,
A1  - Becerra, Héctor . M.
A2  - Sagüés, Carlos.
LA  - English
PP  - Cham
PB  - Springer International Publishing : Imprint: Springer
YR  - 2014
ED  - 1st ed. 2014.
UL  - http://discoverylib.upm.edu.my/discovery/Record/978-3-319-05783-5
AB  - 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.
OP  - 118
CN  - TJ210.2-211.495
SN  - 9783319057835
KW  - Robotics.
KW  - Automation.
KW  - Artificial intelligence.
KW  - Control engineering.
KW  - Optical data processing.
KW  - Robotics and Automation.
KW  - Artificial Intelligence.
KW  - Control and Systems Theory.
KW  - Image Processing and Computer Vision.
ER  -