A Switched Extend Kalman-Filter for Visual Servoing Applied in Nonholonomic Robot with the FOV Constraint

被引：0
|
作者：
Fang, Yuan [1 ]
Zhang Xiaoyong [1 ]
Huang Zhiwu [1 ]
Yu, Wentao [1 ]
Wang, Yabo [1 ]
机构：
[1] Cent S Univ, Sch Informat Sci & Engn, Changsha 410075, Hunan, Peoples R China
来源：
JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2015年 / 19卷 / 02期
关键词：
EKF; FOV; visual servoing; control; nonholonomic robot;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a switched Kalmanfilter (KF) is used to predict the status of feature points leaving the field of view (FOV), which is one of the most common constraints in FOV. By using the prediction of status to compensate for the real state of feature points, non-holonomic robots conduct visual servoing tasks efficiently. Results of simulation and experiments verify the effectiveness of the proposed approach.
引用
收藏
页码：185 / 190
页数：6
相关论文
共 50 条
  • [41] POSITION-BASED VISUAL SERVOING IN ROBOTIC CAPTURE OF MOVING TARGET ENHANCED BY KALMAN FILTER
    Larouche, Benoit P.
    Zhu, Zheng H.
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2015, 30 (03): : 267 - 277
  • [42] Adaptive visual servoing control for uncalibrated robot manipulator with uncertain dead-zone constraint
    Ma, YA-Jun
    Zhao, Hui
    Li, Tao
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2024,
  • [43] Adaptive visual servoing control for uncalibrated robot manipulator with uncertain dead-zone constraint
    Ma, Ya-Jun
    Zhao, Hui
    Li, Tao
    Transactions of the Institute of Measurement and Control, 2024,
  • [44] Applied research to predict the position of the robot soccer game and the Kalman filter algorithm
    Yan, Shaowen
    Cao, Xuefeng
    BioTechnology: An Indian Journal, 2014, 10 (10) : 4634 - 4642
  • [45] Online image Jacobian identification using optimal adaptive robust Kalman filter for uncalibrated visual servoing
    2017, Institute of Electrical and Electronics Engineers Inc., United States
  • [46] Online Image Jacobian Identification Using Optimal Adaptive Robust Kalman Filter for Uncalibrated Visual Servoing
    Ren Xiaolin
    Li Hongwen
    Li Yuanchun
    2017 2ND ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS), 2017, : 53 - 57
  • [47] Unscented Particle Filter for Online Total Image Jacobian Matrix Estimation in Robot Visual Servoing
    Wang, Fasheng
    Sun, Fuming
    Zhang, Junxing
    Lin, Baowei
    Li, Xucheng
    IEEE ACCESS, 2019, 7 : 92020 - 92029
  • [48] Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter
    Qu, Jiadi
    Zhang, Fuhai
    Tang, Yunxi
    Fu, Yili
    IEEE ACCESS, 2020, 8 (08): : 35113 - 35126
  • [49] An improved Multi-State Constraint Kalman Filter for Visual-Inertial Odometry
    Abdollahi, M. R.
    Pourtakdoust, Seid H.
    Nooshabadi, M. H. Yoosefian
    Pishkenari, H. N.
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2024, 361 (15):
  • [50] Visual Localizationo Inspection Robot using Extendec Kalman Filter and Aruco Markers
    Zheng, Jingxiang
    Bi, Shusheng
    Cao, Bo
    Yang, Dongsheng
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2018, : 742 - 747
12345