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Population-based uncalibrated visual servoing (CROSBI ID 134774)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Bonković, Mirjana ; Hace, Aleš ; Jezernik, Karel Population-based uncalibrated visual servoing // IEEE/ASME transactions on mechatronics, 13 (2008), 3; 393-397

Podaci o odgovornosti

Bonković, Mirjana ; Hace, Aleš ; Jezernik, Karel

engleski

Population-based uncalibrated visual servoing

The paper introduces implementation of a recently introduced method suitable for visual servoing. The method is based on the generalization of the secant methods for nonlinear optimization. The difference with existing approaches related to visual servoing is that we do not impose the linear model to interpolate the goal function. Instead, we prefer to identify the linear model by building the secant model using population of the previous iterates, which is as close as possible to the nonlinear function, in the least squares sense. The new system has shown to be less sensitive to noise and exhibits a faster convergence than conventional quasi-Newton methods. The theoretical results are verified by simulations and experimentally.

Broyden Jacobian estimation; fixed imaging; visual servoing; nonlinear optimization; uncalibrated systems; population-based generalization

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Podaci o izdanju

13 (3)

2008.

393-397

objavljeno

1083-4435

Povezanost rada

Elektrotehnika, Računarstvo

Indeksiranost