Visual Control of Wheeled Mobile Robots
Unifying Vision and Control in Generic Approaches
(Sprache: Englisch)
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...
Voraussichtlich lieferbar in 3 Tag(en)
versandkostenfrei
Buch (Kartoniert)
113.07 €
- Lastschrift, Kreditkarte, Paypal, Rechnung
- Kostenlose Rücksendung
- Ratenzahlung möglich
Produktdetails
Produktinformationen zu „Visual Control of Wheeled Mobile Robots “
Klappentext zu „Visual Control of Wheeled Mobile Robots “
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.Inhaltsverzeichnis zu „Visual Control of Wheeled Mobile Robots “
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.Bibliographische Angaben
- Autoren: Héctor . M Becerra , Carlos Sagues
- 2016, Softcover reprint of the original 1st ed. 2014, XII, 118 Seiten, 24 farbige Abbildungen, Maße: 15,5 x 23,5 cm, Kartoniert (TB), Englisch
- Verlag: Springer, Berlin
- ISBN-10: 331935907X
- ISBN-13: 9783319359076
Sprache:
Englisch
Kommentar zu "Visual Control of Wheeled Mobile Robots"
Schreiben Sie einen Kommentar zu "Visual Control of Wheeled Mobile Robots".
Kommentar verfassen