TY - GEN
T1 - Adaptive image-based visual servoing with reinforcement learning for wheeled mobile robots
AU - Shi, Haobin
AU - Sun, Gang
AU - Zhang, Renyu
AU - Chen, Xuanwen
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - Appropriate servoing gain are critical to good performance of image-based visual servoing (IBVS). Servoing gain affects the stability and the convergence rate for the robot to reach a desired position, but the servoing gains in many IBVS applications are heuristically set as a constant. A generic method for determining a series of the servoing gains is proposed, which adjusts adaptively the servoing gain by using Q-learning in order to realize more efficient control. The proposed method addresses problems associated with IBVS control, for instance, slow convergence and low stability. The complete IBVS control system is validated by several experiments on a WMRs that reaches a desired position. Simulation and experimental results demonstrate that the proposed IBVS method has better convergence and stability than the competing methods.
AB - Appropriate servoing gain are critical to good performance of image-based visual servoing (IBVS). Servoing gain affects the stability and the convergence rate for the robot to reach a desired position, but the servoing gains in many IBVS applications are heuristically set as a constant. A generic method for determining a series of the servoing gains is proposed, which adjusts adaptively the servoing gain by using Q-learning in order to realize more efficient control. The proposed method addresses problems associated with IBVS control, for instance, slow convergence and low stability. The complete IBVS control system is validated by several experiments on a WMRs that reaches a desired position. Simulation and experimental results demonstrate that the proposed IBVS method has better convergence and stability than the competing methods.
KW - Image-based visual servoing
KW - Mobile robot
KW - Reinforcement learning
KW - Servoing gain
UR - http://www.scopus.com/inward/record.url?scp=85056353136&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484643
DO - 10.1109/ICMA.2018.8484643
M3 - 会议稿件
AN - SCOPUS:85056353136
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 954
EP - 959
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -