Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories
نویسندگان
چکیده
Visual information is increasingly being used in a great number of applications in order to perform the guidance of joint structures. This paper proposes an image-based controller which allows the joint structure guidance when its number of degrees of freedom is greater than the required for the developed task. In this case, the controller solves the redundancy combining two different tasks: the primary task allows the correct guidance using image information, and the secondary task determines the most adequate joint structure posture solving the possible joint redundancy regarding the performed task in the image space. The method proposed to guide the joint structure also employs a smoothing Kalman filter not only to determine the moment when abrupt changes occur in the tracked trajectory, but also to estimate and compensate these changes using the proposed filter. Furthermore, a direct visual control approach is proposed which integrates the visual information provided by this smoothing Kalman filter. This last aspect permits the correct tracking when noisy measurements are obtained. All the contributions are integrated in an application which requires the tracking of the faces of Asperger children.
منابع مشابه
A Gravitational Search Algorithm-Based Single-Center of Mass Flocking Control for Tracking Single and Multiple Dynamic Targets for Parabolic Trajectories in Mobile Sensor Networks
Developing optimal flocking control procedure is an essential problem in mobile sensor networks (MSNs). Furthermore, finding the parameters such that the sensors can reach to the target in an appropriate time is an important issue. This paper offers an optimization approach based on metaheuristic methods for flocking control in MSNs to follow a target. We develop a non-differentiable optimizati...
متن کاملDesign of an Intelligent Controller for Station Keeping, Attitude Control, and Path Tracking of a Quadrotor Using Recursive Neural Networks
During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
متن کاملTracking Control of Uncertain Non - Iinear MIMO System Using Modified Sliding Surfaces for Attitude Large Maneuver of Satellites on Orbit
Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...
متن کاملTracking Control of Uncertain Non - Iinear MIMO System Using Modified Sliding Surfaces for Attitude Large Maneuver of Satellites on Orbit
Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...
متن کاملUsing a Novel Concept of Potential Pixel Energy for Object Tracking
Abstract In this paper, we propose a new method for kernel based object tracking which tracks the complete non rigid object. Definition the union image blob and mapping it to a new representation which we named as potential pixels matrix are the main part of tracking algorithm. The union image blob is constructed by expanding the previous object region based on the histogram feature. The pote...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Journal of Intelligent and Robotic Systems
دوره 78 شماره
صفحات -
تاریخ انتشار 2015