Intelligent visual servoing with extreme learning machine and fuzzy logic

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• 作者：Tolga Yü ; ksel ^{tolga.yuksel@bilecik.edu.tr}
• 关键词：Image-based visual servoing ; Extreme learning machine ; Fuzzy logic
• 刊名：Expert Systems with Applications
• 出版年：2017
• 出版时间：15 April 2017
• 年：2017
• 卷：72
• 期：Complete
• 页码：344-356
• 全文大小：3415 K
• 卷排序：72

文摘

The pseudoinverse of the interaction matrix, appropriate gain assignment and FOV keeping problems of VS are considered. An intelligent IBVS system using extreme learning machine and fuzzy logic is proposed to solve these problems in a single system. Initial velocity continuity and increased manipulability with fast converge in velocity limits are provided. The classical and the proposed IBVS system are simulated under bad camera calibration and noise as practical disturbances. Redefined analytical VS metrics verified the achievements of the proposed system.