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cr nn 008mamaa |
| 008 |
140326s2014 gw | s |||| 0|eng d |
| 020 |
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|a 9783319057835
|
| 024 |
7 |
|
|a 10.1007/978-3-319-05783-5
|2 doi
|
| 050 |
|
4 |
|a TJ210.2-211.495
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| 050 |
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4 |
|a T59.5
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|2 bicssc
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|a TEC037000
|2 bisacsh
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| 072 |
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7 |
|a TEC004000
|2 bisacsh
|
| 100 |
1 |
|
|a Becerra, Héctor . M.
|9 261230
|
| 245 |
1 |
0 |
|a Visual Control of Wheeled Mobile Robots
|h [libro electrónico] : ;
|b Unifying Vision and Control in Generic Approaches /
|c by Héctor . M Becerra, Carlos Sagués.
|
| 260 |
|
1 |
|a Cham :
|b Springer International Publishing :
|b Imprint: Springer,
|c 2014.
|
| 300 |
|
|
|a xii, 118 p. :
|b il.
|
| 336 |
|
|
|a text
|b txt
|2 rdacontent
|
| 337 |
|
|
|a computer
|b c
|2 rdamedia
|
| 338 |
|
|
|a online resource
|b cr
|2 rdacarrier
|
| 347 |
|
|
|a text file
|b PDF
|2 rda
|
| 490 |
1 |
|
|a Springer Tracts in Advanced Robotics,
|x 1610-7438 ;
|v 103
|
| 505 |
0 |
|
|a 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.
|
| 520 |
|
|
|a 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.
|
| 650 |
|
0 |
|a Engineering.
|9 259622
|
| 650 |
|
0 |
|a Image processing.
|9 259604
|
| 650 |
|
0 |
|a Control engineering.
|9 259595
|
| 650 |
|
0 |
|a Robotics.
|9 259596
|
| 650 |
|
0 |
|a Automation.
|9 259787
|
| 650 |
2 |
4 |
|a Artificial Intelligence (incl. Robotics).
|9 259846
|
| 650 |
2 |
4 |
|a Control.
|9 263886
|
| 650 |
2 |
4 |
|a Computer Vision.
|9 259927
|
| 700 |
1 |
|
|a Sagués, Carlos,
|9 261231
|
| 776 |
0 |
8 |
|i Printed edition:
|z 9783319057828
|
| 856 |
4 |
0 |
|u http://dx.doi.org/10.1007/978-3-319-05783-5
|
| 912 |
|
|
|a ZDB-2-ENG
|
| 929 |
|
|
|a COM
|
| 942 |
|
|
|c EBK
|6 _
|
| 950 |
|
|
|a Engineering (Springer-11647)
|
| 999 |
|
|
|a SKV
|c 27919
|d 27919
|
