Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain

doi:10.1002/asjc.2769

CIOMP OpenIR

	Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain
	J. L. Gu; W. R. Wang; A. Li; M. C. Zhu; L. H. Cao and Z. B. Xu
	2022
发表期刊	Asian Journal of Control
ISSN	1561-8625
卷号	24 期号:6 页码:3434-3455
摘要	In this paper, a homography-based uncalibrated visual servo system with neural-network-assisted robust filtering scheme and adaptive servo gain is presented. This system employs a homography-based task function which is robust to image defects. A neural-network-assisted robust filtering method which combines the new form of smooth variable structure filter (SVSF) with a radial basis function (RBF) neural network is proposed to estimate the total Jacobian between task function and robot joints. The RBF neural network in this filtering method plays the role as a corrector to further improve the accuracy and compensate the interference caused by the measurement errors of image features. The controller that directly controls the robot joints based on the estimated total Jacobian is designed for achieving the robustness to robot parameters errors. By adopting this filtering scheme, the visual servo system shows better accuracy and convincing anti-interference ability. In addition, a novel Q-learning strategy is introduced for this homography-based system to make adaptive adjustment for the servo gain. This adaptive gain enables the system to achieve a faster convergence speed while ensuring the accuracy. Several simulations and experiments have been carried out to verify the performance of the proposed system.
DOI	10.1002/asjc.2769
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收录类别	sci ; ei
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66734
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	J. L. Gu,W. R. Wang,A. Li,et al. Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain[J]. Asian Journal of Control,2022,24(6):3434-3455.
APA	J. L. Gu,W. R. Wang,A. Li,M. C. Zhu,&L. H. Cao and Z. B. Xu.(2022).Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain.Asian Journal of Control,24(6),3434-3455.
MLA	J. L. Gu,et al."Homography-based uncalibrated visual servoing with neural-network-assisted robust filtering scheme and adaptive servo gain".Asian Journal of Control 24.6(2022):3434-3455.

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