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International Conference on Control, Power, Communication and Computing Technologies (ICCPCCT)

作者： Krishnan, Megha G. Ashok, S. Natl Inst Technol Dept Elect Engn Calicut Kerala India

ISBN: (纸本)9781538607961

visual servoing is the most advanced topic in the field of robotics since the visual feedback provides the real time recognition of the environment. The main advantage that a controller should possess is the speed of operation especially controllers used in industrial applications. In this paper, a variable gain control law which is adaptive in nature is proposed which will reduce the time of convergence of image based visual servoing(IBVS) operation. A comparative study on traditional and proposed control law shows the performance of adaptive gain visual servoing for 6 DOF robot manipulator.

关键词： Adaptive Gain image based visual servoing IRB 1200

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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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image based visual servoing of a 7 DOF Robot Manipulator Using a Distributed Fuzzy Proportional Controller

Image Based Visual Servoing of a 7 DOF Robot Manipulator Usi...

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2010 IEEE World Congress on Computational Intelligence

作者： Siradjuddin, Indrazno Behera, Laxmidhar McGinnity, T. M. Coleman, Sonya Univ Ulster ISRC Coleraine BT52 1SA Londonderry North Ireland

ISBN: (纸本)9781424469208

This paper presents a distributed fuzzy proportional control system for a vision guided redundant robot manipulator. Firstly, the Takagi Sugeno (TS) fuzzy algorithm is used to model analytical image based visual servoing (IBVS) using shape moments by offline learning. This control method is applied to an uncalibrated robotic system with eye-in-hand visual feedback. The system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane without a priori knowledge of the robot kinematic, camera calibration and inverse Jacobian. The experimental results of both static and moving targets using the 7 DOF PowerCube manipulator from Amtec Robotic show and verify its performance in a real-time application.

关键词： 7 DOF powercube manipulator 7 DOF robot manipulator IBVS Takagi Sugeno fuzzy system distributed fuzzy proportional controller eye-in-hand visual feedback fuzzy control image based visual servoing manipulators robot kinematic robot vision 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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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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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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image based visual servoing for robot positioning tasks

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MECCANICA 2008年第3期43卷 291-305页

作者： Fioravanti, Duccio Allotta, Benedetto Rindi, Andrea Univ Florence Dept Energet Florence Italy

visual servoing has become a popular paradigm for the control of complex robotic systems: this sensor based approach exploits the image informations provided by one ore more cameras in a feedback control loop to drive the system to the desired configuration. Here authors will refers to a monocular system where the camera is mounted on the end effector of a 6-DOF manipulator. Among different visual servoing approaches image based visual servoing (IBVS) has been the most investigated in the literature because of its nice properties of robustness with respect to both robot modeling and camera calibration errors: in IBVS the control loop is in fact directly closed in the image;moreover IBVS doesn't require the knowledge of the target/scene model (model-free approach). Despite its advantages IBVS may be affected by singularity and local minima problems of the control law: these drawbacks arise especially when the initial and the goal camera images respectively corresponding to the actual and desired system configurations are very different (i.e for large system displacements). To overcome these problems an image path planning can be exploited to ensure system convergence. In this paper author presents an off-line image path planning that can be used to execute system positioning task also in presence of large camera displacements: planning trajectories has been developed such as to make the robot end effector move on a 3D helix, connecting the initial and the desired arm configuration, by generating feasible robot twist-screws and keeping the target in the image field of view. During control execution also 3D target informations are retrieved through an adaptive estimation law. Both simulations and experimental results show the feasibility of the proposed approach.

关键词： image based visual servoing path planning robot control mechanics and machines

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Hybrid position and image based visual servoing for mobile robots

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JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 2007年第1期18卷 73-82页

作者： Kim, Sunhyo Oh, Se-Young Pohang Univ Sci & Technol Dept Elect Engn Pohang 790784 South Korea

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.

关键词： image based visual servoing position based visual servoing mobile robotics fuzzy system neural network

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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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