Posted by 
By Héctor . M Becerra, Carlos Sagüés
Vision-based keep an eye on of wheeled cellular robots is an engaging box of study from a systematic or even social viewpoint as a result of its capability applicability. This e-book provides a proper therapy of a few elements of regulate conception utilized to the matter of vision-based pose law of wheeled cellular robots. during this challenge, the robotic has to arrive a wanted place and orientation, that are laid out in a objective picture. it really is confronted in this sort of approach that imaginative and prescient and keep watch over are unified to accomplish balance of the closed loop, a wide area of convergence, with out neighborhood minima and reliable robustness opposed to parametric uncertainty. 3 diversified keep an eye on schemes that depend upon monocular imaginative and prescient as exact sensor are awarded and evaluated experimentally. a typical good thing about those techniques is they are legitimate for imaging platforms obeying nearly a primary projection version, e.g., traditional cameras, catadioptric platforms and a few fisheye cameras. therefore, the provided keep watch over schemes are popular ways. A minimal set of visible measurements, built-in in sufficient activity capabilities, are taken from a geometrical constraint imposed among corresponding photo positive aspects. really, the epipolar geometry and the trifocal tensor are exploited when you consider that they are often used for commonplace scenes. an in depth experimental evaluate is gifted for every keep an eye on scheme.
Read Online or Download Visual Control of Wheeled Mobile Robots: Unifying Vision and Control in Generic Approaches PDF
Best robotics & automation books
Due to the fact robot prehension is ordinary in all sectors of producing undefined, this e-book fills the necessity for a complete, updated remedy of the subject. As such, this is often the 1st textual content to handle either builders and clients, dealing because it does with the functionality, layout and use of business robotic grippers.
Automatic Generation of Computer Animation: Using AI for Movie Animation
We're either enthusiasts of observing lively tales. each night, earlier than or after d- ner, we regularly take a seat in entrance of the tv and watch the animation software, that is initially produced and proven for kids. we discover ourselves turning into more youthful whereas immerged within the attention-grabbing plot of the animation: how the princess is first killed after which rescued, how the little rat defeats the large cat, and so forth.
Adaptive systems in control and signal processing : proceedings
This moment IFAC workshop discusses the range and purposes of adaptive structures up to speed and sign processing. many of the ways to adaptive keep an eye on structures are lined and their balance and flexibility analyzed. the quantity additionally contains papers taken from poster classes to offer a concise and accomplished overview/treatment of this more and more very important box.
Control-oriented modelling and identification : theory and practice
This entire assortment covers the cutting-edge in control-oriented modelling and identity options. With contributions from best researchers within the topic, it covers the most tools and instruments on hand to strengthen complicated mathematical versions compatible for regulate method layout, together with an summary of the issues which may come up through the layout procedure.
Extra info for Visual Control of Wheeled Mobile Robots: Unifying Vision and Control in Generic Approaches
Sample text
B) Polar coordinates. 24 2 Robust Visual Control Based on the Epipolar Geometry The Cartesian coordinates for the camera location C2 can be expressed as a function of the polar coordinates d23 and ψ2 (Fig. 4) 2 = x2 + y2 . 5) 2 = (x − x )2 + with ψ12 = φ2 − arctan (e21 /αx ) = φ1 − arctan (e12 /αx ) and d12 1 2 (y1 − y2 )2 . 1. In such a case, the focal length parameter in the x-direction is αx = 1. 3 Epipolar Control Law from Three Views Henceforth, let C1 be the initial camera location, C2 the current camera location and C3 the target camera location.
2 υdb = usm + u pp. 12) utilizes the decoupling matrix that presents a singularity problem when the camera axis of the robot is aligned with the baseline, which generates unbounded translational velocity. In order to pass through the singularity we commute to a direct sliding mode controller when |φ2 − ψ2 | is below a threshold Th . This kind of controller has been studied for output tracking through singularities [67]. 13) where kυ and kω are suitable gains and b (φ2 , ψ2 ) is a function that describes the change in sign of the translational velocity when the state trajectory crosses the singularity.
Becerra and C. 1007/978-3-319-05783-5_2, c Springer International Publishing Switzerland 2014 21 22 2 Robust Visual Control Based on the Epipolar Geometry becomes singular for some state of the robot. Indeed, unbounded velocities eventually appear because the singularity is always reached when the robot moves directly toward the target. The approach in [99] takes into account the non-holonomic nature of a wheeled robot by driving one dimension of the epipoles to zero in a smooth way. However, in order to avoid the singularity, the motion strategy steers the robot away from the target while the lateral error is corrected, and after that, the robot moves backward to the target position.