DocumentCode
2476211
Title
Using Dynamic Optimization for Reproducing the Chameleon Visual System
Author
Avni, Ofir ; Borrelli, Francesco ; Katzir, Gadi ; Rivlin, Ehud ; Rotstein, Hector
Author_Institution
Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
1770
Lastpage
1775
Abstract
This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented
Keywords
control system synthesis; predictive control; robot vision; target tracking; chameleon visual system; dynamic optimization; minimum-time model predictive control; pan-tilt cameras; robotic chameleon head; robust target tracking; Cameras; Eyes; Motion control; Neck; Predictive control; Predictive models; Robot vision systems; Robust control; Target tracking; Visual system;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376907
Filename
4177642
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