Visual control of wheeled mobile robots [electronic resource] : unifying vision and control in generic approaches / Héctor M. Becerra, Carlos Sagüés.

Visual control of wheeled mobile robots [electronic resource] : unifying vision and control in generic approaches / Héctor M. Becerra, Carlos Sagüés.

9783319057835 electronic book
3319057839 electronic book
9783319057828

Cham : Springer, 2014.

English

1 online resource (xii, 118 pages) : illustrations (some color).

10.1007/978-3-319-05783-5 doi

TJ211.35

629.8/92

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.

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Description based on online resource; title from PDF title page (SpringerLink, viewed March 31, 2014).

Springer tracts in advanced robotics ; 103. 1610-7438

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