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A Visual Servoing System for an Amphibious Legged Robot. Vision-based Robotics and Control in Natural Underwater Environments

Автор:
мягкая обложка
96 страниц
2008 год
Издательство:   Книга по Требованию
Цена:
2005 руб
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Описание:We use three different tracking algorithms to track and localize the target in the image, with color being the tracked feature. Tracking is performed based on the color of the target object, target color distribution and color distribution with a probabilistic kernel. This is a monocular-vision based servoing mechanism that enables the robot to track and follow a target both underwater and on the ground. The system has been evaluated in open-water environments and under natural lighting conditions, and has successfully performed tracking and following of a wide variety of target objects. Output from the tracker is channeled to a proportional-integral-derivative controller, which generates steering commands for the robot controller. A large class of significant applications can be addressed by allowing such a robot to follow a diver or some other moving target. We present a visual servoing system for an amphibious legged robot. The robot controller in turn takes the steering commands and generates motor commands for the six legs of the robot.


Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка Orthomol Immun Junior Сила иммунитета на страже Вашего ребенка

2990 руб
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Writing Windows WDM Device Drivers

These instructions assume that you have installed the software to C:\WDMBook. However, you can change the directory if you wish. If you use a different drive, you will need to alter the settings of every VC++ project, so it will be much easier for you if you can install the software on drive C:. The WDM Book Visual Studio workspace in the book software base directory contains projects for each of the drivers in the book. Three steps are needed before the book software drivers can be compiled. • Ensure that the DDKROOT environment variable is set to the W2000 DDK or W98 DDK base directory. • Set up an environment variable called WDMBOOK to point to the book software base directory (e.g., C:\WDMBook). In Windows 98, set environment variables by adding them to AUTOEXEC.BAT. You will probably need to reboot for the new definitions to come into effect. In Windows 2000, set environment variables in the Control Panel System proper ties applet "Advanced tab" Environment variables editor. You will need to restart Visual Studio and any DOS boxes for these changes to take effect. • Ensure that the MakeDrvr.bat batch file in the book software base directory is available to be run by Visual Studio, as it is used to invoke the build make process. Either add MakeDrvr.bat to a directory that is on your path, or add the book software base directory to the list of "Executable files" directories in the Visual Studio Tools+Options Directories tab ...»

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Блокнот "Дневник совы".
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