ISBN
| 9783319057828 |
DDC
| 629.892 |
Tác giả CN
| Becerra, Héctor M., |
Nhan đề
| Visual control of wheeled mobile robots : unifying vision and control in generic approaches / Héctor M Becerra; Carlos Sagüés |
Thông tin xuất bản
| Cham : Springer, 2014. |
Mô tả vật lý
| xii, 118 pages. : illustrations ; 23 cm. |
Tùng thư
| Springer tracts in advanced robotics, 103. |
Tóm tắt
| 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. |
Thuật ngữ chủ đề
| Artificial intelligence |
Thuật ngữ chủ đề
| Computer vision |
Thuật ngữ chủ đề
| Robots-Control systems |
Thuật ngữ chủ đề
| Mobile robots |
Từ khóa tự do
| Engineering |
Từ khóa tự do
| Robot vision |
Khoa
| Khoa Cơ khí - Điện - Điện tử - Ô tô |
Tác giả(bs) CN
| Sagüés, Carlos, |
Địa chỉ
| 300Q12_Kho Mượn_02(1): 072871 |
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044 | |asz |
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082 | |a629.892|bB389|223 |
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100 | |aBecerra, Héctor M., |
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245 | |aVisual control of wheeled mobile robots : |bunifying vision and control in generic approaches / |cHéctor M Becerra; Carlos Sagüés |
---|
260 | |aCham : |bSpringer, |c2014. |
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300 | |axii, 118 pages. : |billustrations ; |c23 cm. |
---|
490 | |aSpringer tracts in advanced robotics, 103. |
---|
504 | |aIncludes bibliographical references (pages 111-118) |
---|
520 | |aVision-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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541 | |aTặng |
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650 | |aArtificial intelligence |
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650 | |aComputer vision |
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650 | |aRobots|xControl systems |
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650 | |aMobile robots |
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653 | |aEngineering |
---|
653 | |aRobot vision |
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690 | |aKhoa Cơ khí - Điện - Điện tử - Ô tô |
---|
700 | |aSagüés, Carlos, |
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852 | |a300|bQ12_Kho Mượn_02|j(1): 072871 |
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856 | 1|uhttp://elib.ntt.edu.vn/documentdata01/2 tailieuthamkhao/600 congnghe/anhbiasach/24603_visual control of wheeled mobile robotsthumbimage.jpg |
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890 | |a1|b0|c0|d0 |
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072871
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Q12_Kho Mượn_02
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629.892 B389
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