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Proceedings Paper

Visual servo control using orthonormal polynomial
Author(s): Hamid Tairi; Tadeusz Sliwa; Yvon Voisin; Alain Diou; L. Radouane
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Paper Abstract

This paper describes an application of the visual servoing approach to vision-based control in robotics. The basic idea addresses the use of a vision sensor in the feedback loop within the controlled vision framework. It consists in tracking of arbitrary 3-D objects travelling at unknown velocities in a 2-D space (depth is given as known). Once the necessary modeling stage is performed, the framework becomes one of automatic control, and naturally stability, performance and robustness questions arise. Here, we consider to track line segments corresponding to the edges extracted from the image being analyzed. Two representations for a line segment are presented and discussed, and an appropriate representation is derived. A SISO (Single Input Single Output) model for each parameter of a line segment is then derived and represented by an orthonormal Laguerre network put in state space form. The appeal of this new approach is that it eliminates the need for assumption about the plant order, the time delay and the unmodeled dynamics. For modeling by Laguerre filters, The system must be stable. This problem is handled by an input output data filtering. Hence the poles of filtered model are relocated inside the unit circle. A simple adaptive predictive control is then used for its simplicity. To illustrate the advantages of using the Laguerre network associated to an adaptive input output data filtering, over the conventional control techniques, we carry out a comparison on simulated examples to a PID controller.

Paper Details

Date Published: 1 May 2003
PDF: 9 pages
Proc. SPIE 5132, Sixth International Conference on Quality Control by Artificial Vision, (1 May 2003); doi: 10.1117/12.515087
Show Author Affiliations
Hamid Tairi, Univ. of Burgundy (France)
Tadeusz Sliwa, Univ. of Burgundy (France)
Yvon Voisin, Univ. of Burgundy (France)
Alain Diou, Univ. of Burgundy (France)
L. Radouane, LESSI (Morocco)

Published in SPIE Proceedings Vol. 5132:
Sixth International Conference on Quality Control by Artificial Vision

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