Titlebook: Visual Control of Wheeled Mobile Robots; Unifying Vision and Héctor . M Becerra,Carlos Sagüés Book 2014 Springer International Publishing

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https://doi.org/10.1007/978-3-319-05783-5Epipolar Geometry; Image-based Visual Serving; Mobile Robots; Multi-view Geometries; Nonlinear Observabi

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Conclusions,ntrol theory applied in the particular problem of vision-based navigation of wheeled mobile robots, in such a way that vision and control have been unified to design control schemes with properties of stability, a large region of convergence (without local minima) and good robustness against parametric uncertainty and image noise.

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Introduction,le robots.We have included a complete review of the state of the art on visual control. This review starts from a general point of view where the control is carried out in 6 degrees of freedom, and then, in the context of wheeled mobile robots. We also introduce the mathematical modeling of a wheele

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A Robust Control Scheme Based on the Trifocal Tensor,me that also solves the pose regulation problem, in this case by exploiting the properties of omnidirectional images to preserve bearing information. This is achieved by using the additional information of a third image in the geometric model through a simplified trifocal tensor, which can be comput

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Conclusions,information provided by an onboard monocular imaging system. The importance of addressing this problem is motivated by the increasing number of applications with this type of robots for service tasks. In this context, the general focus of the book is to give a formal treatment of the aspects from co

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Book 2014l 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