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Stabilization of the Underactuated Robot on the Visual Trajectory. / Sevostyanov, Ruslan.

Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers. ред. / Vladimir Sukhomlin; Elena Zubareva. Springer Nature, 2020. стр. 242-250 (Communications in Computer and Information Science; Том 1140 CCIS).

Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции › Рецензирование

Harvard

Sevostyanov, R 2020, Stabilization of the Underactuated Robot on the Visual Trajectory. в V Sukhomlin & E Zubareva (ред.), Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers. Communications in Computer and Information Science, Том. 1140 CCIS, Springer Nature, стр. 242-250, 3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018, Moscow, Российская Федерация, 29/11/18. https://doi.org/10.1007/978-3-030-37436-5_22

APA

Sevostyanov, R. (2020). Stabilization of the Underactuated Robot on the Visual Trajectory. в V. Sukhomlin, & E. Zubareva (Ред.), Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers (стр. 242-250). (Communications in Computer and Information Science; Том 1140 CCIS). Springer Nature. https://doi.org/10.1007/978-3-030-37436-5_22

Vancouver

Sevostyanov R. Stabilization of the Underactuated Robot on the Visual Trajectory. в Sukhomlin V, Zubareva E, Редакторы, Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers. Springer Nature. 2020. стр. 242-250. (Communications in Computer and Information Science). https://doi.org/10.1007/978-3-030-37436-5_22

Author

Sevostyanov, Ruslan. / Stabilization of the Underactuated Robot on the Visual Trajectory. Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers. Редактор / Vladimir Sukhomlin ; Elena Zubareva. Springer Nature, 2020. стр. 242-250 (Communications in Computer and Information Science).

BibTeX

@inproceedings{880f925cf77f4cad8913c828e3c439c9,
title = "Stabilization of the Underactuated Robot on the Visual Trajectory",
abstract = "The article considers the problem of moving and stabilizing underactuated wheeled robot on the visual curve in the motion plane. The curve is detected by the video camera mounted on the robot. The task is solved with the help of the approach named visual servoing which uses the visual information in the feedback. The aim of the visual serving is to minimize the difference between desired and the actual position of the set of the points on the image. The main feature of the proposed solution is considering a number of requirements to the robot{\textquoteright}s dynamic including the reaction on the presence of the external disturbances. Thereby the regulators of special kind called multipurpose structure are used which makes possible to decompose the basic set of requirements into smaller independent tasks. Additional complication is the underactuated nature of the considered robot. Efficiency of the derived regulator is shown through the experiments with computer model.",
keywords = "Computer vision, Control theory, Feedback, Stabilization",
author = "Ruslan Sevostyanov",
note = "Funding Information: Acknowledgments. The research work was funded by the Russian Foundation for Basic Research, according to the research project No. 18-37-00463. Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2020. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018 ; Conference date: 29-11-2018 Through 02-12-2018",
year = "2020",
doi = "10.1007/978-3-030-37436-5_22",
language = "English",
isbn = "9783030374358",
series = "Communications in Computer and Information Science",
publisher = "Springer Nature",
pages = "242--250",
editor = "Vladimir Sukhomlin and Elena Zubareva",
booktitle = "Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers",
address = "Germany",

}

RIS

TY - GEN

T1 - Stabilization of the Underactuated Robot on the Visual Trajectory

AU - Sevostyanov, Ruslan

N1 - Funding Information: Acknowledgments. The research work was funded by the Russian Foundation for Basic Research, according to the research project No. 18-37-00463. Publisher Copyright: © Springer Nature Switzerland AG 2020. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2020

Y1 - 2020

N2 - The article considers the problem of moving and stabilizing underactuated wheeled robot on the visual curve in the motion plane. The curve is detected by the video camera mounted on the robot. The task is solved with the help of the approach named visual servoing which uses the visual information in the feedback. The aim of the visual serving is to minimize the difference between desired and the actual position of the set of the points on the image. The main feature of the proposed solution is considering a number of requirements to the robot’s dynamic including the reaction on the presence of the external disturbances. Thereby the regulators of special kind called multipurpose structure are used which makes possible to decompose the basic set of requirements into smaller independent tasks. Additional complication is the underactuated nature of the considered robot. Efficiency of the derived regulator is shown through the experiments with computer model.

AB - The article considers the problem of moving and stabilizing underactuated wheeled robot on the visual curve in the motion plane. The curve is detected by the video camera mounted on the robot. The task is solved with the help of the approach named visual servoing which uses the visual information in the feedback. The aim of the visual serving is to minimize the difference between desired and the actual position of the set of the points on the image. The main feature of the proposed solution is considering a number of requirements to the robot’s dynamic including the reaction on the presence of the external disturbances. Thereby the regulators of special kind called multipurpose structure are used which makes possible to decompose the basic set of requirements into smaller independent tasks. Additional complication is the underactuated nature of the considered robot. Efficiency of the derived regulator is shown through the experiments with computer model.

KW - Computer vision

KW - Control theory

KW - Feedback

KW - Stabilization

UR - http://www.scopus.com/inward/record.url?scp=85081046484&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/6aae841a-813d-3e1c-adc9-ada98d906c3b/

U2 - 10.1007/978-3-030-37436-5_22

DO - 10.1007/978-3-030-37436-5_22

M3 - Conference contribution

AN - SCOPUS:85081046484

SN - 9783030374358

T3 - Communications in Computer and Information Science

SP - 242

EP - 250

BT - Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers

A2 - Sukhomlin, Vladimir

A2 - Zubareva, Elena

PB - Springer Nature

T2 - 3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018

Y2 - 29 November 2018 through 2 December 2018

ER -

ID: 70873110