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24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Lazar, Corneliu Burlacu, Adrian Gheorghe Asachi Tech Univ Iasi Iasi Romania

ISBN: (纸本)9783319212906;9783319212890

Model predictive control (MPC) is a very attractive control algorithm used to solve the complex problems of image-based visual servoing (IBVS) systems. Many image-based predictive controllers were reported, each being different regarding the implementing of the MPC concept. In this paper, we present a MPC framework for IBVS applications, the main contributions being a new visual predictor and the introduction of the reference trajectory.

关键词： visual predictive control image based visual servoing Robot arm motion control

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DLVS: Time Series Architecture for image-based visual servoing 8

DLVS: Time Series Architecture for Image-Based Visual Servoi...

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8th International Conference on Control and Robotics Engineering (ICCRE)

作者： Aggarwal, Nilesh Anunay Jain, Vayam Singh, Tushar Vishwakarma, Dinesh Kumar Delhi Technol Univ DTU Dept Appl Phys Delhi India Delhi Technol Univ DTU Dept Mech Engn Delhi India Delhi Technol Univ DTU Dept Elect Engn Delhi India Delhi Technol Univ DTU Dept Informat Technol Delhi India

ISBN: (纸本)9798350345650

A novel deep learning-based visual servoing architecture "DLVS" is proposed for control of an unmanned aerial vehicle (UAV) capable of quasi-stationary flight with a camera mounted under the vehicle to track a target consisting of a finite set of stationary points lying in a plane. Current Deep Learning and Reinforcement Learning (RL) based end-to-end servoing approaches rely on training convolutional neural networks using color images with known camera poses to learn the visual features in the environment suitable for servoing tasks. This approach limits the application of the network to available environments where the dataset was collected. Moreover, we cannot deploy such networks on the low-power computers present onboard the UAV. The proposed solution employs a time series architecture to learn temporal data from sequential values to output the control cues to the flight controller. The low computational complexity and flexibility of the DLVS architecture ensure real-time onboard tracking for virtually any target. The algorithm was thoroughly validated in real-life environments and outperformed the current state-of-the-art in terms of time efficiency and accuracy.

关键词： visual servoing image based visual servoing end-to-end visual servoing deep learning UAV target tracking time series long short-term memory

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Vision-based control of a quadrotor utilizing artificial neural networks for tracking of moving targets

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2017年 58卷 34-48页

作者： Shirzadeh, Masoud Asl, Hamed Jabbari Amirkhani, Abdollah Jalali, Ali Akbar Iran Univ Sci & Technol Dept Elect Engn Tehran *** Iran

This paper investigates the application of an image based visual servoing (IBVS) mechanism for controlling the translational and rotational movements of a quadrotor helicopter;via this scheme, the helicopter can track a moving target by means of a camera installed underneath. The image features chosen for this purpose are the perspective image features. A direct adaptive neural controller was designed to control transitional motion. The controller makes use of neural network controller radial basis function (RBF) to deal with the image dynamic uncertainties. These uncertainties relate to the depth of visual information and the movement of the considered target. Moreover, a sliding mode controller designed by using the image features has been presented for controlling the rotational movement of the helicopter. Also, due to the lack of accurate image velocity and the Euler angles, appropriate observers have been designed and used. The designed scheme needs no geometric information from the object followed by the quadrotor;therefore, this method can be employed in unknown environments. The simulation results for ideal and non-ideal conditions indicate that, in spite of the problems such as the uncertainty of the image depth and the mobility of the target, both in the rotational and translational motions, the helicopter has been able to reach the desired altitude and to properly track the moving target.

关键词： image based visual servoing Quadrotor Moving target Perspective image features RBF

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Development of a Motion Sensing System based on visual servoing of an Eye-in-Hand Electrohydraulic Parallel Manipulator

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IEEE SENSORS JOURNAL 2020年第14期20卷 8108-8116页

作者： Chaudhuri, Shouvik Saha, Rana Chatterjee, Amitava Mookherjee, Saikat Sanyal, Dipankar Jadavpur Univ Dept Elect Engn Kolkata 700032 India Jadavpur Univ Mech Syst & Control Lab Dept Mech Engn Kolkata 700032 India

The design and implementation of a real-time object motion sensing and trajectory replicating system, dependent on the image-based visual servoing capabilities of an electrohydraulic eye-in-hand parallel manipulator has been described in this paper. The tracking system consists of a monocular vision apparatus affixed to the top platform of a six-cylinder parallel manipulator constructed with industry grade double-acting single rod hydraulic actuators and budget proportional valves. The control algorithm is an amalgamation of three principles: machine vision based object tracking, image based visual servoing and actuator-level feedback control utilizing the inverse kinematics of the parallel manipulator. The real-time experiments are performed on a laboratory scale parallel manipulator setup with the aid of a virtual tracking object rendered on a computer monitor. The results for a few reference trajectories reveal that accurate tracking of target motions can be achieved with visual servoing algorithms designed for parallel manipulators in real-time.

关键词： Manipulators Cameras visual servoing Real-time systems Calibration Valves Electro-hydraulic system motion sensing Stewart platform real-time systems image based visual servoing

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Pool testing of AUV visual servoing for autonomous inspection

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IFAC-PapersOnLine 2015年第2期28卷 274-280页

作者： Krupinski, Szymon Desouche, Remi Palomeras, Narcis Allibert, Guillaume Hua, Minh-Duc Cybernetix a Technip Company Marseille France Underwater Vision and Robotics Research Center Girona Spain Laboratoire d'Informatique Signaux et Systèmes de Sophia-Antipolis France Institute des Systèmes Intelligents et de Robotique Paris France

servoing methods were developed to enable inspection of underwater structures by autonomous vehicles in industrial oil & gas context. Pipeline following and planar object tracking were targeted, using video camera as the principal sensor. A non-linear inner-loop control was used to stabilise the complex dynamics of the vehicle. Pipeline following and planar target tracking were successfully tested in October and November 2014 on Girona 500 vehicle in a simple pool mock-up environment. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomous underwater vehicles Linear control systems Pipelines Target tracking Video cameras visual servoing Autonomous Vehicles Complex dynamics image based visual servoing Inner loop controls Non linear Non linear control Planar objects Planar target

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Vision based Control for Fixed Wing UAVs Inspecting Locally Linear Infrastructure Using Skid-to-Turn Maneuvers

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2011年第1-4期61卷 29-42页

作者： Mills, Steven J. Ford, Jason J. Mejias, Luis Queensland Univ Technol ARCAA Brisbane Qld 4001 Australia

The following paper proposes a novel application of Skid-to-Turn maneuvers for fixed wing Unmanned Aerial Vehicles (UAVs) inspecting locally linear infrastructure. Fixed wing UAVs, following the design of manned aircraft, commonly employ Bank-to-Turn maneuvers to change heading and thus direction of travel. Whilst effective, banking an aircraft during the inspection of ground based features hinders data collection, with body fixed sensors angled away from the direction of turn and a panning motion induced through roll rate that can reduce data quality. By adopting Skid-to-Turn maneuvers, the aircraft can change heading whilst maintaining wings level flight, thus allowing body fixed sensors to maintain a downward facing orientation. An image-based visual Servo controller is developed to directly control the position of features as captured by onboard inspection sensors. This improves on the indirect approach taken by other tracking controllers where a course over ground directly above the feature is assumed to capture it centered in the field of view. Performance of the proposed controller is compared against that of a Bank-to-Turn tracking controller driven by GPS derived cross track error in a simulation environment developed to replicate the field of view of a body fixed camera.

关键词： Skid-to-Turn image based visual servoing Guidance and control Fixed wing UAVs

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visual servoing of a Quadrotor UAV for Autonomous Power Lines Inspection 22

Visual Servoing of a Quadrotor UAV for Autonomous Power Line...

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22nd Mediterranean Conference on Control and Automation (MED)

作者： Araar, Oualid Aouf, Nabil Cranfield Univ Ctr Elect Warfare Shrivenham England

ISBN: (纸本)9781479959013

The objective of this work is to achieve real time tracking of power conductors using a Quadrotor Unmanned Air Vehicle (UAV). Two solutions are proposed. For the first solution, the control is directly solved in the 2 D image space. The link between image features and the kinematics of the vehicle is achieved using an image based visual servoing (IBVS) formulation, combined with a Linear Quadratic Servo (LQ-Servo) approach. In the second solution, a partial pose of the vehicle with respect to (wrt) the lines is estimated. Then, a position controller designed in the Cartesian space is used to drive the vehicle to the desired configuration. Experimental results are provided to validate the two approaches.

关键词： autonomous aerial vehicles control system synthesis helicopters linear quadratic control object tracking pose estimation position control visual servoing Cartesian space IBVS formulation LQ-servo approach autonomous power lines inspection image based visual servoing linear quadratic servo approach position controller design power conductors tracking quadrotor UAV quadrotor unmanned air vehicle vehicle partial pose estimation Cameras Equations Mathematical model Three-dimensional displays Vehicles visual servoing visualization

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visual servoing method using camera self-calibration

Visual servoing method using camera self-calibration

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SICE-ICASE International Joint Conference

作者： Lee, Dong-Wook Kim, Se-Hoon Won, Sang-Chul POSTECH Dept Elect & Elect Engn Pohang South Korea

ISBN: (纸本)9788995003848

visual servoing is very useful for navigating robots to specific positions and orientations accurately and reliably. Unfortunately, the existing methods require accurate camera calibration tasks that are troublesome. Whenever a camera is changed or intrinsic parameters become different, we should carry out camera calibration tasks. Methods in order to cope with this problem is so called self-calibration techniques. Until now, self-calibration techniques just have considered the case of static self-calibration where these estimated intrinsic parameters are not used to control the robot. Only a few researchers have recently developed the case of dynamic self-calibration where estimated intrinsic parameters are used to control the robot. In this paper, a visual servoing procedure which is performed in parallel to a self-calibration algorithm based on simplified kruppa equations is proposed. Simulation results show that estimation of both constant and varying intrinsic parameters is efficient and the the robot converge to the desired positions.

关键词： self calibration image based visual servoing

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Shape Features for image-based Servo-Control using image Moments 12

Shape Features for Image-Based Servo-Control using Image Mom...

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12 IEEE Int C Elect Energy Env Communications Computer Control

作者： Sahu, Umesh Kumar Patra, Dipti Natl Inst Technol Rourkela Dept Elect Engn Rourkela India

ISBN: (纸本)9781467365406

The objective of the visual servoing (VS) is to control a dynamic system using the data extracted by a vision sensor. In image based visual servoing (IBVS) scheme control values are computed on the basis of image features directly. It is used in many applications such as automated machining, remote hazardous material handling, remote surgery and many more. In IBVS, singularities in the interaction matrix and local minima in the trajectories can severely affect the visual servoing task. There are two main challenges on IBVS referring to recent research. The first most important issue is the design and selection of visual features to avoid the singularity issue, and second is the development of a control scheme by selected visual features such that the desired characteristics are obtained during the visual servoing. Moments have been useful to select a minimal number of features to control the whole DOFs of a camera. Our objective is to obtain an interaction matrix with minimal set of features using image moments which change slowly around the desired position of the camera. In this paper we propose use of shape feature circularity, which is also invariant to translation, rotation and scale in IBVS control scheme. Initially analytic form of interaction matrix related to the selected visual features for planar object is derived for 6 combinations of features using moments to control the robot with 6 DOF and performance is evaluated through simulation results via machine vision toolbox of Matlab.

关键词： visual Serving image based visual servoing image Moments Circularity

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30th ACM Symposium on Applied Computing (SAC)

作者： Fonooni, Benjamin Hellstrom, Thomas Umea Univ Dept Comp Sci S-90187 Umea Sweden

ISBN: (纸本)9781450331968

Robotics is tightly connected to both artificial intelligence (AI) and control theory. Both AI and control based robotics are active and successful research areas, but research is often conducted by well separated communities. In this paper, we compare the two approaches in a case study for the design of a robot that should move its arm towards an object with the help of camera data. The control based approach is a model free version of image based visual servoing (IBVS), which is based on mathematical modeling of the sensing and motion task. The AI approach, here denoted Behavior-based visual servoing (BBVS), contains elements that are biologically plausible and inspired by schema-theory. We show how the two approaches lead to very similar solutions, even identical given a few simplifying assumptions. This similarity is shown both analytically and numerically. However, in a simple picking task with a 3 DoF robot arm, BBVS shows significantly higher performance than the IBVS approach, partly because it contains more manually tuned parameters. While the results obviously do not apply to all tasks and solutions, it illustrates both strengths and weaknesses with both approaches, and how they are tightly connected and share many similarities despite very different starting points and methodologies.

关键词： Behavior based visual servoing image based visual servoing Behavior based Systems

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