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Applying BAT Evolutionary Optimization to Image-Based Visual Servoing

Author

Listed:
  • Marco Perez-Cisneros
  • Gerardo Garcia-Gil
  • Sabrina Vega-Maldonado
  • J. Arámburo-Lizárraga
  • Erik Cuevas
  • Daniel Zaldivar

Abstract

This paper presents a predictive control strategy for an image-based visual servoing scheme that employs evolutionary optimization. The visual control task is approached as a nonlinear optimization problem that naturally handles relevant visual servoing constraints such as workspace limitations and visibility restrictions. As the predictive scheme requires a reliable model, this paper uses a local model that is based on the visual interaction matrix and a global model that employs 3D trajectory data extracted from a quaternion-based interpolator. The work assumes a free-flying camera with 6-DOF simulation whose results support the discussion on the constraint handling and the image prediction scheme.

Suggested Citation

  • Marco Perez-Cisneros & Gerardo Garcia-Gil & Sabrina Vega-Maldonado & J. Arámburo-Lizárraga & Erik Cuevas & Daniel Zaldivar, 2015. "Applying BAT Evolutionary Optimization to Image-Based Visual Servoing," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-11, August.
    • Handle: RePEc:hin:jnlmpe:590138
    DOI: 10.1155/2015/590138
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