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Engineering - Robotics | Visual Control of Wheeled Mobile Robots - Unifying Vision and Control in Generic Approaches

Visual Control of Wheeled Mobile Robots

Unifying Vision and Control in Generic Approaches

Becerra, Héctor . M, Sagüés, Carlos

2014, XII, 118 p. 49 illus., 24 illus. in color.

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  • 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

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.

Content Level » Research

Keywords » Epipolar Geometry - Image-based Visual Serving - Mobile Robots - Multi-view Geometries - Nonlinear Observability - Omnidirectional Visual Serving - Position-based Visual Serving - Sliding Mode Control - Trifocal Tensor

Related subjects » Artificial Intelligence - Control Engineering - Image Processing - Robotics

Table of contents 

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.

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