scholarly journals Grasping Control Method of Manipulator Based on Binocular Vision Combining Target Detection and Trajectory Planning

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 167973-167981
Author(s):  
Yi Han ◽  
Kai Zhao ◽  
Zenan Chu ◽  
Yan Zhou
Keyword(s):  
Target Detection ◽  
Binocular Vision ◽  
Trajectory Planning ◽  
Control Method

Binocular Vision Enhances Target Detection by Filtering the Background

Perception ◽  
1994 ◽  
Vol 23 (11) ◽  
pp. 1267-1286 ◽  
Author(s):  
Bruce Schneider ◽  
Giampaolo Moraglia
Keyword(s):  
Target Detection ◽  
Binocular Vision ◽  
Gaussian Noise ◽  
Visual Scene ◽  
Sinusoidal Grating ◽  
Model Based

In previous studies the authors have shown that the enhanced detectability exhibited by stereoscopically viewed targets can be accounted for by assuming that the binocular system can linearly summate the left-eye and right-eye views of a visual scene. A model based upon this assumption leads to a variety of predictions concerning the detectability of noise-embedded targets. One such prediction is that the detectability of a target in these conditions is highly orientation specific. A test is reported of such a prediction that can be regarded as counterintuitive: namely, that the detectability, under stereoscopic viewing conditions, of a patch of sinusoidal grating masked by Gaussian noise should change substantially when the grating, oriented at 45°, is rotated until its orientation becomes −45°. The implications of these results for an understanding of the phenomenon of camouflage breaking are discussed.

scholarly journals Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2243
Author(s):  
Jianchuan Guo ◽  
Chenhu Yuan ◽  
Xu Zhang ◽  
Fan Chen
Keyword(s):  
Target Detection ◽  
Feedback Linearization ◽  
Visual Servoing ◽  
Control Method ◽  
Sliding Mode ◽  
Optical Axis ◽  
Detection And Tracking ◽  
The Stability ◽  
Stabilized Platform ◽  
The Mathematical Model

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

scholarly journals Research on Trajectory Planning and Tracking of Hexa-copter

2018 ◽  
Vol 173 ◽  
pp. 02008
Author(s):  
Qiyu Wang ◽  
Huijie Zhang ◽  
Jinrong Han
Keyword(s):  
Trajectory Planning ◽  
Flight Control ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Variable Structure ◽  
Flight Trajectory ◽  
Attitude Stability

In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.

Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion

1993 ◽  
Vol 115 (3) ◽  
pp. 447-455 ◽  
Author(s):  
Tai-Heng Chang ◽  
Yildirim Hurmuzlu
Keyword(s):  
Trajectory Planning ◽  
Planning Process ◽  
Control Method ◽  
Variable Structure ◽  
Bipedal Locomotion ◽  
Tracking Errors ◽  
Structure Control ◽  
Control Scheme ◽  
Lyapunov’S Second Method ◽  
Planning Problems

A new variable structure control law based on the Lyapunov’s second method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: (i) it eliminates the reaching phase, (ii) it provides means to predict the entire motion and directly control the evolution of tracking errors, (iii) it facilitates the trajectory planning process in the joint and/or cartesian spaces. A planar, five-link bipedal locomotion model has been developed. Five constraint relations that cast the motion of the biped in terms of four parameters are developed. The new control method is applied to regulate the locomotion of the system according to the five constraint relations. Numerical simulation is performed to verify the ability of the controller to achieve steady gait by applying the proposed control scheme. Bifurcation diagrams of the periodic motions of the biped are used to demonstrate the improvements in controller performance that arise from the application of the proposed method.

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