Overview
- Unifies formal aspects of control theory with concepts of computer vision to achieve good performance in the problem of visual serving of mobile robots
- Presents generic and robust visual control schemes
- Exploits the properties of geometric constraints for direct visual feedback
- All the presented control schemes are evaluated through simulations and real-world experiments using different platforms and vision systems
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 103)
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Table of contents (5 chapters)
Keywords
About this book
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.
Authors and Affiliations
Bibliographic Information
Book Title: Visual Control of Wheeled Mobile Robots
Book Subtitle: Unifying Vision and Control in Generic Approaches
Authors: Héctor . M Becerra, Carlos Sagüés
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-05783-5
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Hardcover ISBN: 978-3-319-05782-8Published: 08 April 2014
Softcover ISBN: 978-3-319-35907-6Published: 03 September 2016
eBook ISBN: 978-3-319-05783-5Published: 26 March 2014
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XII, 118
Number of Illustrations: 25 b/w illustrations, 24 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Control and Systems Theory, Image Processing and Computer Vision