Robot Visual Servo with Fuzzy Particle Filter
Robot Visual Servo with Fuzzy Particle Filter
复制标题
带有模糊粒子滤波器的机器人视觉伺服
DOI：
10.4304/jcp.7.4.842-845
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发表时间：
2012-04-01
期刊：
影响因子：
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通讯作者：
Zhao, Qingjie
中科院分区：
文献类型：
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作者：
Ma, Jie;Zhao, Qingjie
提出了一种基于模糊逻辑理论的自适应粒子滤波机器人视觉伺服方法，用于在线估计机器人视觉伺服系统的总雅可比矩阵。根据滤波估计误差，使用一组模糊规则来选择合适的粒子数。当估计误差较大时，使用较多的粒子，当估计误差较小时，使用较少的粒子。在一个二自由度机器人系统上的视觉伺服实验结果表明，所提出的模糊自适应粒子滤波视觉伺服方法比传统的粒子滤波视觉伺服方法所需的时间更短，可以获得较好的跟踪精度。
This paper proposes a robot visual servo method with an adaptive particle filter based on fuzzy logic theory to online estimate the total Jacobian matrix of a robot visual servo system. A set of fuzzy rules are used to select appropriate numbers of particles according to the filtering estimation errors. When an estimation error is high more particles are used, and when the estimation error is low fewer particles are used. The visual servo results on a two degree-of-freedom robot system show that the proposed fuzzy adaptive particle filter visual servo method needs less time than that of traditional particle filter visual servo method to get a comparative tracking accuracy.