| 书目名称 | Visual Control of Wheeled Mobile Robots |
| 副标题 | Unifying Vision and |
| 编辑 | Héctor . M Becerra,Carlos Sagüés |
| 视频video | |
| 概述 | Unifies formal aspects of control theory with concepts of computer vision to achieve good performance in the problem of visual serving of mobile robots.Presents generic and robust visual control schem |
| 丛书名称 | Springer Tracts in Advanced Robotics |
| 图书封面 |  |
| 描述 | .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. Particula |
| 出版日期 | Book 2014 |
| 关键词 | Epipolar Geometry; Image-based Visual Serving; Mobile Robots; Multi-view Geometries; Nonlinear Observabi |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-05783-5 |
| isbn_softcover | 978-3-319-35907-6 |
| isbn_ebook | 978-3-319-05783-5Series ISSN 1610-7438 Series E-ISSN 1610-742X |
| issn_series | 1610-7438 |
| copyright | Springer International Publishing Switzerland 2014 |
发表于 2025-3-21 19:56:27
