Title :
Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head
Author :
Kumarawadu, Sisil ; Watanabe, Keigo ; Kiguchi, Kazuo ; Izumi, Kiyotaka
Author_Institution :
Graduate Sch. of Sci. & Eng., Saga Univ., Japan
Abstract :
We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system
Keywords :
CCD image sensors; Jacobian matrices; active vision; compensation; dynamics; kinematics; neurocontrollers; radial basis function networks; robot vision; servomechanisms; stereo image processing; velocity control; binocular tracking; dynamic binocular active vision head; dynamics; linear kinematics model; online RBF-NN compensator; radial basis function neural networks compensator; resolved velocity controller; servo controller; tracking problem; Cameras; Control systems; Head; Neural networks; Orbital robotics; Robot kinematics; Servomechanisms; Systems engineering and theory; Target tracking; Velocity control;
Conference_Titel :
SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7306-5
DOI :
10.1109/SICE.2001.977812
