F-1229 画像ベースト視覚サーボに対するファジィ制御補償(G15-2 ロボットの知能化制御)(G15 ロボティクス・メカトロニクス部門一般講演)

概要

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A drawback with feature based visual servoing is that sore feature marks go off the screen in the case where goal positions for the feature marks are near the edges of the screen, unless the gain coefficients are adjusted appropriately. This paper proposes a method of compensating the feature based visual servoing with fuzzy control, instead of adjusting the gain coefficient. Input variables to the fuzzy system are: distance to the current position of the feature mark from the center of the screen, velocity of the feature mark and distance to the goal position from the current position of the feature mark on the screen. An output from the fuzzy system is a compensation value that prevents the feature marks from going off the screen Fuzzy rules are designed so that the compensation value becomes smaller, as the feature marks approach the gal position on the screen. Effectiveness of the proposed method is shown through numerical simulations.
2001-08-22