Applying BAT Evolutionary Optimization to Image-Based Visual Servoing

This paper presents a predictive control strategy for an image-based visual servoing scheme that employs evolutionary optimization. The visual control task is approached as a nonlinear optimization problem that naturally handles relevant visual servoing constraints such as workspace limitations and...

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Bibliographic Details
Published in:Mathematical problems in engineering 2015-01, Vol.2015 (2015), p.1-11
Main Authors: Cuevas, Erik, Arámburo-Lizárraga, J., Vega-Maldonado, Sabrina, Garcia-Gil, Gerardo, Pérez-Cisneros, Marco, Zaldivar, Daniel
Format: Article
Language:English
Subjects:
Cameras
Computer simulation
Constraints
Control algorithms
Control tasks
Engineering
Evolutionary
Mathematical models
Nonlinear control
Nonlinearity
Optimization
Predictive control
Quaternions
Servocontrol
Trajectories
Trajectory control
Velocity
Visibility
Visual
Visual control
Visual flight
Visual tasks
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Summary:This paper presents a predictive control strategy for an image-based visual servoing scheme that employs evolutionary optimization. The visual control task is approached as a nonlinear optimization problem that naturally handles relevant visual servoing constraints such as workspace limitations and visibility restrictions. As the predictive scheme requires a reliable model, this paper uses a local model that is based on the visual interaction matrix and a global model that employs 3D trajectory data extracted from a quaternion-based interpolator. The work assumes a free-flying camera with 6-DOF simulation whose results support the discussion on the constraint handling and the image prediction scheme.
ISSN:1024-123X
1563-5147
DOI:10.1155/2015/590138