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RISS 인기검색어
- 검색키워드
- 저자 : Khaled Kaanich (검색결과 2 건)
- 무료
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- 유료
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Improving Mobile Robot Robustness in Visual Servoing Application
Laroussi Hammouda,Hassen Mekki,Khaled Kaaniche,Mohamed Chtourou 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.10
This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence of the mobile robot to its desired pose even in the presence of modeling errors. Experimental results are presented to validate our approach and to demonstrate its efficiency.
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Visual Servoing Based on Efficient Histogram Information
Hajer Abidi,Mohamed Chtourou,Khaled Kaanich,Hassen Mekki 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
The robustness of a visual servoing task depends mainly on the efficiency of visual selections capturedfrom a sensor at each robot’s position. A task function could be described as a regulation of the values sentvia the control law to the camera velocities. In this paper we propose a new approach that does not depend onmatching and tracking results. Thus, we replaced the classical minimization cost by a new function based onprobability distributions and Bhattacharyya distance. To guarantee more robustness, the information related tothe observed images was expressed using a combination of orientation selections. The new visual selections arecomputed by referring to the disposition of Histograms of Oriented Gradients (HOG) bins. For each bin we assigna random variable representing gradient vectors in a particular direction. The new entries will not be used toestablish equations of visual motion but they will be directly inserted into the control loop. A new formulation ofthe interaction matrix has been presented according to the optical flow constraint and using an interpolation functionwhich leads to a more efficient control behaviour and to more positioning accuracy. Experiments demonstrate therobustness of the proposed approach with respect to varying work space conditions.
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