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Pregled bibliografske jedinice broj: 312914

Časopis

Autori: Bonković, Mirjana; Hace, Aleš; Jezernik, Karel
Naslov: Population-based uncalibrated visual servoing
Izvornik: IEEE/ASME Transaction on Mechatronics (1083-4435) 13 (2008), 3; 393-397
Vrsta rada: članak
Ključne riječi: Broyden Jacobian estimation; fixed imaging; visual servoing; nonlinear optimization; uncalibrated systems; population-based generalization
Sažetak:
The paper introduces implementation of a recently introduced method suitable for visual servoing. The method is based on the generalization of the secant methods for nonlinear optimization. The difference with existing approaches related to visual servoing is that we do not impose the linear model to interpolate the goal function. Instead, we prefer to identify the linear model by building the secant model using population of the previous iterates, which is as close as possible to the nonlinear function, in the least squares sense. The new system has shown to be less sensitive to noise and exhibits a faster convergence than conventional quasi-Newton methods. The theoretical results are verified by simulations and experimentally.
Projekt / tema: 023-0232005-2003
Izvorni jezik: ENG
Rad je citiran u
bazama podataka:
Web of Science: Science Citation
Current Contents Citation Index
Scopus
Web of Science: Science Citation Index Expanded
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo
URL cjelovitog teksta:
Google Scholar: Population-based uncalibrated visual servoing
Upisao u CROSBI: Mirjana Bonković (mirjana.bonkovic@fesb.hr), 4. Pro. 2007. u 13:32 sati



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