Searching for just a few words should be enough to get started. If you need to make more complex queries, use the tips below to guide you.
Article type: Research Article
Authors: Kim, Sunhyo | Oh, Se-Young
Affiliations: Department of Electrical Engineering, Pohang University of Science and Technology (POSTECH), Pohang, Kyungbuk, South Korea 790-784. Tel.: +82 54 279 2904; E-mail: {steelp,syoh}@postech.ac.kr
Abstract: Visual servoing requires the target object to be in the field of view of the camera all the time. At the same time, we also want to achieve optimal path planning and controllability of the robot pose. This paper presents a new hybrid fuzzy control method for visual servoing of mobile robots to meet these requirements. IBVS (Image Based Visual Servoing) calculates the motion plan directly from the image space using the inverse image Jacobian so that the target object always stays within the field of view. In contrast, PBVS (Position Based Visual Servoing) uses an image-to-work space transform to plan an optimal pose trajectory directly in the cartesian. The proposed fuzzy control then integrates these two types of visual servoing through a warning signal indicating the target may escape the field of view. Also, we use the neural network for the prediction of the target position for a robust timely tracking of the object. Simulation and real experimental work based on MORIS, our mobile robot test bed, verify the efficacy of this approach.
Keywords: Image based visual servoing, position based visual servoing, mobile robotics, fuzzy system, neural network
Journal: Journal of Intelligent & Fuzzy Systems, vol. 18, no. 1, pp. 73-82, 2007
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
USA
Tel: +1 703 830 6300
Fax: +1 703 830 2300
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
IOS Press
Nieuwe Hemweg 6B
1013 BG Amsterdam
The Netherlands
Tel: +31 20 688 3355
Fax: +31 20 687 0091
[email protected]
For editorial issues, permissions, book requests, submissions and proceedings, contact the Amsterdam office [email protected]
Inspirees International (China Office)
Ciyunsi Beili 207(CapitaLand), Bld 1, 7-901
100025, Beijing
China
Free service line: 400 661 8717
Fax: +86 10 8446 7947
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
如果您在出版方面需要帮助或有任何建, 件至: [email protected]