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Biblioteca Julio Castiñeiras. Sistema de Información Integrado - Facultad de Ingeniería UNLP
Facultad de Ingeniería | 115 esq.47 | Horario: Lunes a Viernes 8 a 19 hs.
E-mail: bibcentral@ing.unlp.edu.ar
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Información bibliografica (registro INGC-EBK-000491) |
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Título: |
Visual Control of Wheeled Mobile Robots Unifying Vision and Control in Generic Approaches / by Héctor . M Becerra, Carlos Sagués. |
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Autor:
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Becerra, Héctor . M.
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Otros autores: |
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Sagués, Carlos,
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Editado por: |
Springer International Publishing :;Imprint: Springer,
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Año de publicación: |
2014.
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Lugar de publicación: |
Cham :
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Descripción física: |
xii, 118 p. : il. |
ISBN: |
9783319057835
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Colección: |
Springer Tracts in Advanced Robotics,
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Materias: |
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Computer Vision. |
Control. |
Artificial Intelligence (incl. Robotics). |
Automation. |
Image processing. |
Control engineering. |
Robotics. |
Engineering. |
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Notas: |
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. |
Sumario: |
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. |
URL: |
http://dx.doi.org/10.1007/978-3-319-05783-5
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Tapa y contenido (Amazon.com) |
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