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    Nhan đề: Visual control of wheeled mobile robots :
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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040 |aNTT
041 |aeng
044 |asz
082 |a629.892|bB389|223
100 |aBecerra, Héctor M.,
245 |aVisual control of wheeled mobile robots : |bunifying vision and control in generic approaches / |cHéctor M Becerra; Carlos Sagüés
260 |aCham : |bSpringer, |c2014.
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.
541 |aTặng
650 |aArtificial intelligence
650 |aComputer vision
650 |aRobots|xControl systems
650 |aMobile robots
653 |aEngineering
653 |aRobot vision
690 |aKhoa Cơ khí - Điện - Điện tử - Ô tô
700 |aSagüés, Carlos,
852|a300|bQ12_Kho Mượn_02|j(1): 072871
8561|uhttp://elib.ntt.edu.vn/documentdata01/2 tailieuthamkhao/600 congnghe/anhbiasach/24603_visual control of wheeled mobile robotsthumbimage.jpg
890|a1|b0|c0|d0
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