Visual Control of Wheeled Mobile Robots [electronic resource] : Unifying Vision and Control in Generic Approaches / by Héctor . M Becerra, Carlos Sagüés.Material type: TextLanguage: English Series: Springer Tracts in Advanced Robotics: 103Publisher: Cham : Springer International Publishing : Imprint: Springer, 2014Description: XII, 118 p. 49 illus., 24 illus. in color. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9783319057835Subject(s): Engineering | Artificial intelligence | Computer vision | Engineering | Robotics and Automation | Artificial Intelligence (incl. Robotics) | Control | Image Processing and Computer VisionAdditional physical formats: Printed edition:: No titleDDC classification: 629.892 LOC classification: TJ210.2-211.495T59.5Online resources: Click here to access online
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.
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.