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Visual Control of Wheeled Mobile Robots Unifying Vision and Control in Generic Approaches /
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 whee...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , |
| Autor Corporativo: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Cham :
Springer International Publishing : Imprint: Springer,
2014.
|
| Edición: | 1st ed. 2014. |
| Colección: | Springer Tracts in Advanced Robotics,
103 |
| Temas: | |
| Acceso en línea: | Texto Completo |
MARC
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| 001 | 978-3-319-05783-5 | ||
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| 008 | 140326s2014 sz | s |||| 0|eng d | ||
| 020 | |a 9783319057835 |9 978-3-319-05783-5 | ||
| 024 | 7 | |a 10.1007/978-3-319-05783-5 |2 doi | |
| 050 | 4 | |a TJ212-225 | |
| 050 | 4 | |a TJ210.2-211.495 | |
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| 100 | 1 | |a Becerra, Héctor . M. |e author. |4 aut |4 http://id.loc.gov/vocabulary/relators/aut | |
| 245 | 1 | 0 | |a Visual Control of Wheeled Mobile Robots |h [electronic resource] : |b Unifying Vision and Control in Generic Approaches / |c by Héctor . M Becerra, Carlos Sagüés. |
| 250 | |a 1st ed. 2014. | ||
| 264 | 1 | |a Cham : |b Springer International Publishing : |b Imprint: Springer, |c 2014. | |
| 300 | |a XII, 118 p. 49 illus., 24 illus. in color. |b online resource. | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 347 | |a text file |b PDF |2 rda | ||
| 490 | 1 | |a Springer Tracts in Advanced Robotics, |x 1610-742X ; |v 103 | |
| 505 | 0 | |a 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. | |
| 520 | |a 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. | ||
| 650 | 0 | |a Control engineering. | |
| 650 | 0 | |a Robotics. | |
| 650 | 0 | |a Automation. | |
| 650 | 0 | |a Artificial intelligence. | |
| 650 | 0 | |a Computer vision. | |
| 650 | 1 | 4 | |a Control, Robotics, Automation. |
| 650 | 2 | 4 | |a Artificial Intelligence. |
| 650 | 2 | 4 | |a Control and Systems Theory. |
| 650 | 2 | 4 | |a Computer Vision. |
| 700 | 1 | |a Sagüés, Carlos. |e author. |4 aut |4 http://id.loc.gov/vocabulary/relators/aut | |
| 710 | 2 | |a SpringerLink (Online service) | |
| 773 | 0 | |t Springer Nature eBook | |
| 776 | 0 | 8 | |i Printed edition: |z 9783319057842 |
| 776 | 0 | 8 | |i Printed edition: |z 9783319057828 |
| 776 | 0 | 8 | |i Printed edition: |z 9783319359076 |
| 830 | 0 | |a Springer Tracts in Advanced Robotics, |x 1610-742X ; |v 103 | |
| 856 | 4 | 0 | |u https://doi.uam.elogim.com/10.1007/978-3-319-05783-5 |z Texto Completo |
| 912 | |a ZDB-2-ENG | ||
| 912 | |a ZDB-2-SXE | ||
| 950 | |a Engineering (SpringerNature-11647) | ||
| 950 | |a Engineering (R0) (SpringerNature-43712) | ||