TY  - BOOK
AU  - Becerra,Héctor .M.
AU  - Sagués,Carlos
TI  - Visual Control of Wheeled Mobile Robots : Unifying Vision and Control in Generic Approaches  / 
T2  - Springer Tracts in Advanced Robotics,
SN  - 9783319057835
AV  - TJ210.2-211.495 
PY  - 2014///
CY  - Cham
PB  - Springer International Publishing, Imprint: Springer
KW  - Engineering
KW  - Image processing
KW  - Control engineering
KW  - Robotics
KW  - Automation
KW  - Artificial Intelligence (incl. Robotics)
KW  - Control
KW  - Computer Vision
N1  - 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
N2  - 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
UR  - http://dx.doi.org/10.1007/978-3-319-05783-5
ER  -