带在线RBF-NN补偿器的分辨速度控制器用于双目动态主动视觉头的控制

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603) Pub Date : 2001-07-25 DOI:10.1109/SICE.2001.977812

S. Kumarawadu, K. Watanabe, K. Kiguchi, K. Izumi

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引用次数: 0

摘要

我们提出了一种主动双目跟踪方案，解决了运动学和动力学两个方面的问题。利用合适的系统线性运动学模型在线计算伺服控制器的外部参考信号。采用在线RBF-NN补偿器的伺服控制器能够在对系统动力学了解最少的情况下处理跟踪问题。

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Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

We present an active binocular tracking scheme, which addresses both the kinematic and dynamic aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.

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SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)

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