Applying BAT Evolutionary Optimization to Image-Based Visual Servoing

Marco Perez-Cisneros, Gerardo Garcia-Gil, Sabrina Vega-Maldonado, J. Arámburo-Lizárraga, Erik Cuevas and Daniel Zaldivar

Mathematical Problems in Engineering, 2015, vol. 2015, 1-11

Abstract:

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.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:590138

DOI: 10.1155/2015/590138

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