特徴ベースト視覚サーボに対するファジィ制御補償(機械力学,計測,自動制御)

抄録

A drawback with feature based visual servoing is that some 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 in such a way that the compensation value becomes smaller, as the feature marks approach the goal position on the screen. Effectiveness of the proposed method is shown by numerical simulations.