Abstract
In this paper, fuzzy models obtained on-line and off-line for uncalibrated visual servoing, are proposed and validated for an unicycle mobile robot. This approach will recursively update the inverse fuzzy model based only on measurements, at a given time instant. The uncalibrated approach does not require calibrated kinematic and camera models, as needed in classical visual servoing to obtain the Jacobian. Experimental results obtained in an unicycle mobile robot performing eye-in-hand visual servoing are used to demonstrate the validity of the proposed approach, when compared to the previous developed off-line learning.
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