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Population-based uncalibrated visual servoingBonković, Mirjana ; Hace, Aleš ; Jezernik, KarelThis paper introduces the implementation of a recently introduced method suitable for visual servoing. The method is based on the generalization of secant methods for nonlinear optimization. The ... difference with existing approaches related to visual servoing is that we do not impose a linear model to interpolate the goal function. Instead, we prefer to identify the linear model by building the secant model using population of the previous iterates, which is as close as possible to the nonlinear function, in the least-squares sense. The new system has been shown to be less sensitive to noise and exhibits a faster convergence than do conventional quasi-Newton methods. The theoretical results are verified experimentally and also by simulations.Source: IEEE/ASME transactions on mechatronics. - ISSN 1083-4435 (Vol. 13, no. 3, Jun. 2008, str. 393-397)Type of material - article, component partPublish date - 2008Language - englishCOBISS.SI-ID - 12348694
Author
Bonković, Mirjana |
Hace, Aleš |
Jezernik, Karel
Topics
mehatronika |
kontrolni sistemi |
servosistemi |
servokrmilniki |
optimizacija |
optimizacijske metode |
vizualno krmiljenje |
robotski vid |
visual servo controller |
visual servoing |
fixed imaging |
nonlinear optimization |
Broyden-Jacobian estimation
source: IEEE/ASME transactions on mechatronics. - ISSN 1083-4435 (Vol. 13, no. 3, Jun. 2008, str. 393-397)
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Bonković, Mirjana | |
Hace, Aleš | 15373 |
Jezernik, Karel | 03018 |
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