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 /

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Bibliographic Details
Author / Creator:	Becerra, Héctor M., author.
Imprint:	Cham : Springer, 2014.
Description:	1 online resource (xii, 118 pages) : illustrations (some color).
Language:	English
Series:	Springer Tracts in Advanced Robotics, 1610-7438 ; 103 Springer tracts in advanced robotics ; 103.
Subject:	Robots -- Control systems. Mobile robots. Mobile robots. Robots -- Control systems.
Format:	E-Resource Book
URL for this record:	http://pi.lib.uchicago.edu/1001/cat/bib/11084408

Hidden Bibliographic Details
Other authors / contributors:	Sagüés, Carlos, author.
ISBN:	9783319057835 3319057839 3319057820 9783319057828 9783319057828
Notes:	Online resource; title from PDF title page (SpringerLink, viewed March 31, 2014).
Summary:	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.
Other form:	Printed edition: 9783319057828
Standard no.:	10.1007/978-3-319-05783-5

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.