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

Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to conferencePaper

Abstract

In this paper we present an active binocular tracking scheme, which addresses both the kinematics and dynamics 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.

Original languageEnglish
Pages90-93
Number of pages4
Publication statusPublished - Dec 1 2001
Externally publishedYes
Event40th SICE Annual Conference - Nagoya, Japan
Duration: Jul 25 2001Jul 27 2001

Other

Other40th SICE Annual Conference
CountryJapan
CityNagoya
Period7/25/017/27/01

Keywords

  • Active vision
  • Binocular tracking
  • Neural networks compensator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kumarawadu, S., Watanabe, K., Kiguchi, K., & Izumi, K. (2001). Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head. 90-93. Paper presented at 40th SICE Annual Conference, Nagoya, Japan.