Naslov
Population-based uncalibrated visual servoing

Autori
Bonković, Mirjana ; Hace, Aleš ; Jezernik, Karel

Izvornik
IEEE/ASME Transaction on Mechatronics (1083-4435) 13 (2008), 3; 393-397

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

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