Title :
A visual servo control based on geometric algebra
Author :
López-Franco, C. ; Fink, Geoff ; Arana-Daniel, N. ; Alanis, A.Y.
Author_Institution :
Comput. Sci. Dept., Univ. of Guadalajara, Guadalajara, Mexico
Abstract :
This paper presents a new visual servo controller based on geometric algebra (GA). The controller has an angular and translational components that are designed using rotors and translators. The controller does not require additional calculations or jacobian-like matrices. The proposed adaptive controller regulates a camera to a desired position and orientation from a desired image. Lastly, we develop a GA-based Lyapunov function to demonstrate the stability of the controller and we present simulations validating the proposed controller.
Keywords :
Lyapunov methods; adaptive control; algebra; cameras; geometry; image sensors; robot vision; visual servoing; Lyapunov function; adaptive controller; angular component; camera orientation; camera position; geometric algebra; translational component; visual servo control; Argon; Cameras; Matrix decomposition; Robots; Rotors; Vectors; Geometric algebra; visual servo control;
Conference_Titel :
Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on
Conference_Location :
Merida City
Print_ISBN :
978-1-4577-1011-7
DOI :
10.1109/ICEEE.2011.6106633
