Visual Control of Wheeled Mobile Robots

Unifying Vision and Control in Generic Approaches

  • Héctor . M Becerra
  • Carlos Sagüés

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 103)

Table of contents

  1. Front Matter
    Pages 1-10
  2. Héctor M. Becerra, Carlos Sagüés
    Pages 1-20
  3. Héctor M. Becerra, Carlos Sagüés
    Pages 21-44
  4. Héctor M. Becerra, Carlos Sagüés
    Pages 45-68
  5. Héctor M. Becerra, Carlos Sagüés
    Pages 69-97
  6. Héctor M. Becerra, Carlos Sagüés
    Pages 99-101
  7. Back Matter
    Pages 103-118

About this book

Introduction

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.

Keywords

Epipolar Geometry Image-based Visual Serving Mobile Robots Multi-view Geometries Nonlinear Observability Omnidirectional Visual Serving Position-based Visual Serving Sliding Mode Control Trifocal Tensor

Authors and affiliations

  • Héctor . M Becerra
    • 1
  • Carlos Sagüés
    • 2
  1. 1.Department of Computer ScienceCIMAT (Centro de Investigación en Matemáticas, A.C)GuanajuatoMexico
  2. 2.Instituto de Investigación en Ingeniería de Aragón, Universidad de ZaragozaZaragozaSpain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-05783-5
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-05782-8
  • Online ISBN 978-3-319-05783-5
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book
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