Springer Tracts in Advanced Robotics

Visual Control of Wheeled Mobile Robots

Unifying Vision and Control in Generic Approaches

Authors: Becerra, Héctor . M, Sagues, Carlos

  • 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
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  • ISBN 978-3-319-05783-5
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Hardcover $109.00
price for USA
  • ISBN 978-3-319-05782-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $109.00
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  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 21, 2016
  • ISBN 978-3-319-35907-6
  • Free shipping for individuals worldwide
Rent the ebook  
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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.

Table of contents (5 chapters)

  • Introduction

    Becerra, Héctor M. (et al.)

    Pages 1-20

  • Robust Visual Control Based on the Epipolar Geometry

    Becerra, Héctor M. (et al.)

    Pages 21-44

  • A Robust Control Scheme Based on the Trifocal Tensor

    Becerra, Héctor M. (et al.)

    Pages 45-68

  • Dynamic Pose-Estimation for Visual Control

    Becerra, Héctor M. (et al.)

    Pages 69-97

  • Conclusions

    Becerra, Héctor M. (et al.)

    Pages 99-101

Buy this book

eBook $84.99
price for USA (gross)
  • ISBN 978-3-319-05783-5
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.00
price for USA
  • ISBN 978-3-319-05782-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $109.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 21, 2016
  • ISBN 978-3-319-35907-6
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Visual Control of Wheeled Mobile Robots
Book Subtitle
Unifying Vision and Control in Generic Approaches
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
103
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-05783-5
DOI
10.1007/978-3-319-05783-5
Hardcover ISBN
978-3-319-05782-8
Softcover ISBN
978-3-319-35907-6
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XII, 118
Number of Illustrations and Tables
25 b/w illustrations, 24 illustrations in colour
Topics