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Introduction to Mobile Robot Control by Spyros G Tzafestas

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9

Mobile Robot Control V

Vision-Based Methods

Vision is an important robotic sensor since it can be used for environment measurement without physical contact. Visual robot control or visual servoing is a feedback control methodology that uses one or more vision sensors (cameras) to control the motion of the robot. Specifically, the control inputs for the robot motors are produced by processing image data (typically, extraction of contours, features, corners, and other visual primitives). In robotic manipulators, the purpose of visual control is to control the pose of the robot’s end-effector relative to a target object or a set of target features. In mobile robots, the vision controller’s task is to control the vehicle’s pose with respect to ...

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