Applying BAT Evolutionary Optimization to Image-Based Visual Servoing
2015 ◽
Vol 2015
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pp. 1-11
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Keyword(s):
This paper presents a predictive control strategy for an image-based visual servoing scheme that employs evolutionary optimization. The visual control task is approached as a nonlinear optimization problem that naturally handles relevant visual servoing constraints such as workspace limitations and visibility restrictions. As the predictive scheme requires a reliable model, this paper uses a local model that is based on the visual interaction matrix and a global model that employs 3D trajectory data extracted from a quaternion-based interpolator. The work assumes a free-flying camera with 6-DOF simulation whose results support the discussion on the constraint handling and the image prediction scheme.
2012 ◽
Vol 162
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pp. 487-496
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Keyword(s):
Keyword(s):
2012 ◽
Vol 6
(10)
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pp. 1486-1496
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