{"product_id":"visual-control-of-wheeled-mobile-robots-unifying-vision-and-control-in-generic-approaches-von-hector-m-becerra-carlos-sagues","title":"Visual Control of Wheeled Mobile Robots","description":"\n                                \n                \u003cp\u003eVision-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.\u003c\/p\u003e\n                            \n            \u003cdiv class=\"aw-variant-hidden-subtitle-div\" id=\"aw-variant-subtitle-9783319057828\"\u003e\u003ch3\u003eUnifying Vision and Control in Generic Approaches\u003c\/h3\u003e\u003c\/div\u003e","brand":"Libri","offers":[{"title":"Hardcover - 9783319057828","offer_id":51782032902,"sku":"9783319057828","price":139.09,"currency_code":"EUR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0940\/0622\/files\/2e7c987a-16c9-42f6-8359-71d1a5922709.jpg?v=1772258313","url":"https:\/\/shop.autorenwelt.de\/products\/visual-control-of-wheeled-mobile-robots-unifying-vision-and-control-in-generic-approaches-von-hector-m-becerra-carlos-sagues","provider":"Autorenwelt Shop","version":"1.0","type":"link"}