Visual servo control using orthonormal polynomial

Hamid Tairi; Tadeusz Sliwa; Yvon Voisin; Alain Diou; L. Radouane

doi:10.1117/12.515087

1 May 2003 Visual servo control using orthinormal polynomial

Hamid Tairi, Tadeusz Sliwa, Yvon Voisin, Alain Diou, L. Radouane

Proceedings Volume 5132, Sixth International Conference on Quality Control by Artificial Vision; (2003) https://doi.org/10.1117/12.515087
Event: Quality Control by Artificial Vision, 2003, Gatlinburg, TE, United States

Abstract

This paper describes an application of the visual servoing approach to vision-based control in robotics. The basic idea addresses the use of a vision sensor in the feedback loop within the controlled vision framework. It consists in tracking of arbitrary 3-D objects travelling at unknown velocities in a 2-D space (depth is given as known). Once the necessary modeling stage is performed, the framework becomes one of automatic control, and naturally stability, performance and robustness questions arise. Here, we consider to track line segments corresponding to the edges extracted from the image being analyzed. Two representations for a line segment are presented and discussed, and an appropriate representation is derived. A SISO (Single Input Single Output) model for each parameter of a line segment is then derived and represented by an orthonormal Laguerre network put in state space form. The appeal of this new approach is that it eliminates the need for assumption about the plant order, the time delay and the unmodeled dynamics. For modeling by Laguerre filters, The system must be stable. This problem is handled by an input output data filtering. Hence the poles of filtered model are relocated inside the unit circle. A simple adaptive predictive control is then used for its simplicity. To illustrate the advantages of using the Laguerre network associated to an adaptive input output data filtering, over the conventional control techniques, we carry out a comparison on simulated examples to a PID controller.

Citation Download Citation

Hamid Tairi, Tadeusz Sliwa, Yvon Voisin, Alain Diou, and L. Radouane "Visual servo control using orthinormal polynomial", Proc. SPIE 5132, Sixth International Conference on Quality Control by Artificial Vision, (1 May 2003); https://doi.org/10.1117/12.515087

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Image segmentation

Visual process modeling

Visualization

Optical tracking

Data modeling

Systems modeling

Device simulation

Show All Keywords

Keywords/Phrases

Search In:

Publication Years