Multi-View Geometry Based Visual Perception and Control of Robotic Systems

Jian Chen, Bingxi Jia, Kaixiang Zhang

• Éditeur: CRC Press
• Année: 2018
• ISBN:
  9780429951220
• Édition: 1
• Sujet: Computer Science
• Sous-sujet: Information Technology

This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.

I

FOUNDATIONS

Chapter 1

Robotics

Robotics is concerned with the study of those machines that can replace human beings in the execution of a task, including physical activity, decision-making, and human interaction. This book is devoted to the studies on the robots that accomplish the physical tasks via locomotion. Generally, these types of robots can be divided into robot manipulators and mobile robots. Robot manipulators are also called fixed robots as they are generally mounted in industrial fields and the motion of end effectors are actuated by the motion of joints. The end effectors generally move in 3D space to perform manipulation tasks. Mobile robots are featured with the free mobility in large workspace, including wheeled mobile robots (WMRs), legged mobile robots, unmanned aerial vehicles, and autonomous underwater vehicles. WMRs are widely used in both industrial and daily life scenarios because they are appropriate for typical applications with relatively low mechanical complexity and energy consumption [107].

The key feature of a physical robot is its locomotion via specific mechanical structure. For control development, it should be modeled mathematically to describe its motion characteristics. In the autonomous navigation and manipulation tasks, the motion of robot bases and end effectors can be expressed mathematically by the notion of pose information. In this chapter, the general pose representation of rigid bodies is introduced, and then the robot kinematics is developed.

1.1Pose Representation

A rigid body in physical space can be described by the position and orientation, which are collectively named as the pose information. Then, the robot locomotion can be described by the pose information, which serves as the output of the robot model. The motion of a rigid body consists of translations and rotations, resulting in the position and orientation descriptions with respect to the reference coordinate system. As shown in Figure 1.1, two ...