Fish catching by visual servoing using neural network prediction

This paper presents a method to predict a fish motion by Neural Network (N.N.) with on-line learning when a robot is pursuing fish-catching by a net at hand through hand-eye robot visual servoing. We assume the motion trajectory of a fish swimming in a pool be approximated by a circle with time v Fi,´: prediction accuracy of a fish motion by using N.N. whose inputs ?SS times and outputs are radius and angular velocity in the followlrff0 obtained by circular approximation, we confirmed that the proposed I performances under the proposed on-line learning process.