Visual Servoing of a Wheeled Mobile Robot using Unconstrained Optimization with a Ceiling Mounted Camera.
Gon-Woo KimKyuiig-Tae NamSang-Moo LeePublished in: RO-MAN (2007)
Keyphrases
- unconstrained optimization
- mounted camera
- visual servoing
- wheeled mobile robot
- control algorithm
- control law
- mobile robot
- control system
- constrained optimization
- optimization methods
- nonlinear optimization
- trust region
- search methods
- objective function
- image based visual servoing
- penalty function
- vision system
- control strategy
- control method
- gradient method
- closed loop
- robot control
- image space
- camera motion
- real time
- fuzzy logic
- optimization method
- search algorithm
- control scheme
- path planning
- mathematical model
- machine learning
- global optimum
- multi objective
- evolutionary algorithm
- feature space
- video sequences