DocumentCode :
679505
Title :
2D visual servoïng of wheeled mobile robot by neural networs
Author :
Zouaoui, Rania ; Mekki, Hassen
Author_Institution :
Nat. Sch. of Eng. of Sousse, Univ. of Sousse, Sousse, Tunisia
fYear :
2013
fDate :
15-17 Dec. 2013
Firstpage :
130
Lastpage :
133
Abstract :
We are interested in this paper in the 2D visual servoïng for a mobile robot type Koala using radial basis function (RBF) neural network (NN). Seen that the interaction matrix, expressing the relationship between the camera motion and the consequent changes on the visual features, contains parameters to be estimated (depth) and requires a calibration phase of the camera. In more, the model of the robot can contain uncertainties engendered the movement with sliding. An online identification, using NN was proposed to overcome these problems. The RBF NN is used to estimate the block formed by the interaction matrix and the model inverts of the robot. The considered images are described by objects given by four points. Seen that the variables number of the estimated function is important, what can cause a problem of the use of an excessive number of RBFs. As remedy, we used a new approach consists in considering that a single point is sufficient to solve the problem of the 2D visual servoïng of the mobile robot.
Keywords :
calibration; image sensors; mobile robots; radial basis function networks; robot vision; visual servoing; 2D visual servoing; NN; RBF; camera calibration phase; camera motion; interaction matrix; mobile robot type koala; model inverts; online identification; radial basis function neural network; wheeled mobile robot; Artificial neural networks; Cameras; Gold; Jacobian matrices; Robot vision systems; Visualization; Visual servoïng; mobile robot type Koala; neural networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Individual and Collective Behaviors in Robotics (ICBR), 2013 International Conference on
Conference_Location :
Sousse
Type :
conf
DOI :
10.1109/ICBR.2013.6729263
Filename :
6729263
Link To Document :
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