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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...

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Detalles Bibliográficos
Autores principales: Becerra, Héctor M, Sagüés, Carlos
Lenguaje:eng
Publicado: Springer 2014
Materias:
Acceso en línea:https://dx.doi.org/10.1007/978-3-319-05783-5
http://cds.cern.ch/record/1693408
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author Becerra, Héctor M
Sagüés, Carlos
author_facet Becerra, Héctor M
Sagüés, Carlos
author_sort Becerra, Héctor M
collection CERN
description 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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spelling cern-16934082021-04-21T21:04:48Zdoi:10.1007/978-3-319-05783-5http://cds.cern.ch/record/1693408engBecerra, Héctor MSagüés, CarlosVisual control of wheeled mobile robots: unifying vision and control in generic approachesEngineeringVision-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.Springeroai:cds.cern.ch:16934082014
spellingShingle Engineering
Becerra, Héctor M
Sagüés, Carlos
Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title_full Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title_fullStr Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title_full_unstemmed Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title_short Visual control of wheeled mobile robots: unifying vision and control in generic approaches
title_sort visual control of wheeled mobile robots: unifying vision and control in generic approaches
topic Engineering
url https://dx.doi.org/10.1007/978-3-319-05783-5
http://cds.cern.ch/record/1693408
work_keys_str_mv AT becerrahectorm visualcontrolofwheeledmobilerobotsunifyingvisionandcontrolingenericapproaches
AT saguescarlos visualcontrolofwheeledmobilerobotsunifyingvisionandcontrolingenericapproaches