Visual servoing to catch fish using global/local GA search

Hidekazu Suzuki, Mamoru Minami

Research output: Contribution to journalArticle

61 Citations (Scopus)

Abstract

This paper presents a vision-related technique for a real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA. In the GA process, the computation of the fitness function is based on the configuration of an object model designated as the surface-strips model. To evaluate the effectiveness of the proposed recognition method, experiments to track a fish by a hand-eye camera and catch the fish with a net attached to the hand of the manipulator have been performed.

Original languageEnglish
Pages (from-to)352-357
Number of pages6
JournalIEEE/ASME Transactions on Mechatronics
Volume10
Issue number3
DOIs
Publication statusPublished - Jun 1 2005
Externally publishedYes

Keywords

  • Fish catching
  • Gazing
  • Genetic algorithm (GA)
  • Real-time recognition
  • Visual servoing

ASJC Scopus subject areas

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

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