特徴ベースト視覚サーボにおける首ふり・後退量のファジィ決定

Abstract

One drawback of the traditional feature-based visual servoing is that undesired set back motion occurs if the rotation around the optical axis is required to move to the goal position and orientation. Another drawback is that some feature points may go off the screen in the case that goal positions for the feature points are near the edges of the screen, unless the gain coefficients are adjusted appropriately. To overcome these drawbacks, this paper introduces a fuzzy control to the feature based visual servoing that uses a middle image made from a current image and the goal image. Input variables to the fuzzy system are: distance to the current and goal position of the feature points from the center of the screen, the distance between the current and goal position of the feature points, rotational angle required to reach the goal position of the feature points, and the distance of the mean position of the current feature points from the center of the screen. An output from the fuzzy system is a heading or setting back motion that prevent the feature points from going off the screen and make the feature points approach the goal position efficiently. Effectiveness of the proposed method is demonstrated experimentally, compared to the other two traditional methods.