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This paper presents a visual servoing approach for robotic teleoperation using a tethered unmanned aerial vehicle (UAV). When teleoperating a robot, human operator's perception of the remote situation is limited by the robot's onboard camera. This deteriorates situational awareness and poses challenges on operation precision and efficiency. Tele- operated visual assistants are used in practice. For...
The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method which can increase the accuracy of visual servoing with guaranteed stability. The proposed controller combines PD control with sliding mode control (SMC) for a 6DOF manipulator. Specifically, the main benefits of this approach lie...
This paper presents a self-memory prediction model to mitigate the effects of image based visual servoing (IBVS) system under uncertainty. The performance of IBVS system is easily influenced by different tasks, diverse environments and uncertain disturbances. Through building a self-memory prediction model to keep previous movement tendency in the every current movement, the framework of a self-memory...
This paper presents the simulation of path following by an autonomous omnidirectional mobile robot with an onboard monocular camera. The control of the mobile robot for performing the aforementioned task is done with a 2D visual servoing by considering point features. Artificial landmarks are supposed to be placed in the robot's navigation environment. We performed this simulation in two ways. In...
Confront location based on camera tracking is an active research area as it offers numerous applications, particularly for security-based surveillance, robot vision and visual guidance. This paper presents a camera calibration technique for target tracking by designing a feedback control system for a camera mounted servo based gimballed eye structure which in turn signals the tracking station to position...
An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is adopted that facilitates both control implementation and gain...
For a visual servo system, there usually exists the problem of time-delay likely caused by long image processing and data transmission. The visual servo system of our robot is subject to two main limitations stemming from the specific commercial mobile manipulator, of which one is the large time-delay due to image transmission, whereas the other is failure to directly command each joint velocity as...
This paper presents a novel vision servoing approach using depth maps to perform robotic motion task with field of view (FOV) constraint. The vision servoing scheme relies on the depth information available from an Red Green Blue-Depth (RGB-D) camera. With respect to the previous approaches, the proposed vision servoing approach has the advantage as follow: First, it does not require the estimation...
Visual servoing (VS) is an automatic control technique which uses the feedback of visual information to guide the robot motion to converge to the desired location. This paper proposes new moment-based features for robust VS with spheres, especially in cameras obeying the unified model. Specifically, we introduce a virtual plane to reload contours of image projections of spheres, in the process of...
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques such as Position-Based Visual Servoing (PBVS) and Image-Based Visual Servoing (IBVS) in some cases (e.g., while the multirotor is performing fast maneuvers) do not...
In this paper, the main objective is to design a gain controller for a robot arm based on reinforcement learning methods. The controller is applied in image base visual servoing. The image feature error is used to form the state space. When the robot perceives a state by using a camera, the controller based on Q-Learning will output a control gain to the robot arm. Because Q-Learning does not have...
Guided bombs use different sensors as an input to correct its trajectory to a desired target. Some of them use optical sensors to compute the relative state between the guided system and the target. These systems usually use bang-off-bang controllers to align the line of sight towards the target, producing a quasi-straight path and a fixed attitude angle. The present work proposes an extension of...
The control of robotic manipulators has received significant amount of attention in the control and robotics communities. In this paper, we investigate the kinematic control of a manipulator with an eye-in-hand camera, which is referred to as visual servoing. The visual servoing problem is formulated as a constrained optimization problem, which is then solved via a recurrent neural network. By this...
Many academic researchers have been engaged in the visual servoing based regulation of quadrotors over the past decade, and proposed a lot of controllers for this challenging problem. The regulation controller presented in this paper adopts the Position Based Visual Servoing (PBVS) methodology. Most of the PBVS controllers, if not all, are assuming the position of the quadrotor w.r.t. the marker is...
Reproducible, robust robot control is particularly challenging at the microscale, where lesser understood surface forces, such as friction, dominate volumetric forces, such as magnetic attraction. In such an environment, an adaptive (or “uncalibrated”) controller which can dynamically adjust to changes in the operation environment is essential. This paper describes an uncalibrated controller utilizing...
Moment-based features have been intensively explored in visual servoing (VS) applications, especially when lack of representational rigid points like in the bottle production line. Convergence and many other constraints exist in VS with image moments have seldom been simultaneously considered in the literature. This paper takes bottle-shape like cylinders as a target and proposes a set of new moment-based...
This paper addresses the analysis of an experimental setup designed with the aim of calibrating important parameters involved in visual servoing. More precisely, the effects of parameters related to image processing, camera calibration and noise reduction are investigated. Great attention is given to the algorithms used for improving the pose accuracy of a moving target while reducing their computational...
This paper considers the design and implementation of a visual servo system for catching a flying ball using an active stereo vision system, a static vision system, and an omni-directional wheeled mobile robot. These multi-camera vision systems are used to track the flying ball and guide the omni-directional mobile wheeled robot to catch it. The dynamic model of a flying ball and Kalman filter are...
In this article, a vision based landing framework is proposed for fixed-wing UAVs. Being able to automatically land a UAV without on-ground instrumentation or in the case of e.g. GPS loss, is a challenge of strong practical relevance. In this study, the Avion Jaune UAV, was considered to apply such a framework enabling it with vision-only landing capability. The proposed approach considers the synthesis...
This paper presents an improved dynamic output feedback image-based visual servoing (IBVS) law for a quadrotor in comparison with our previous work (“Dynamic Visual Servoing of a Rotary-wing Unmanned Aerial Vehicle Without Velocity Measurement,” in AIAA Guidance, Navigation, and Control Conference, Grapevine, Texas, January, 2017). The controller enables the quadrotor to regulate its position and...
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