Manipulator visual servoing and tracking of fish using a genetic algorithm

Abstract

This paper presents the real‐time visual servoing of a manipulator and its tracking strategy of a fish, by employing a genetic algorithm (GA) and the unprocessed gray‐scale image termed here as “raw‐image”. The raw‐image is employed to shorten the control period, since it has more tolerance of contrast variations occurring within an object, and between one input image and the next one. GA is employed in a method called 1‐step‐GA evolution. In this way, for every generational step of the GA process, the found results, which express the deviation of the target in the camera frame, are output for control purposes. These results are then used to determine the control inputs of the PD‐type controller. Our proposed GA‐based visual servoing has been implemented in a real system, and the results have shown its effectiveness by successfully tracking a moving target fish.

Harmony filter: A robust visual tracking system using the improved harmony search algorithm

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“…It is clear to see that the minimum of this function is found at [x, y, z] = [11,4,7]. If we let HS find this minimum point and choose the HMS to be N = 3, a random initialisation of the HM is illustrated in Fig.…”

“…Most approaches involve the use of genetic algorithms or the particle swarm optimisation algorithm [7][8][9][10]. The advantage of these methods is that no assumptions are made about the shape of the distribution or the noise in the system.…”

A behavior-based mobile robot with a visual landmark-recognition system

“…Machine vision is essential to robotics, biomedical applications, and many other areas [4], [5]. Expectational knowledge, with expected characteristics such as color, shape, size, texture, and so on, play an important part in human as well as the machine image-understanding process.…”

Autonomous fish tracking by ROV using Monocular Camera

“…Several papers have touched on the topic of au tomated animal tracking in natural underwater en vironments.Rife et altackled a robotic tracking of Gelatinous animals in the deep ocean [8]. Other workers have automated visual extraction of marine animals from a video sequence, without closing servo loops.…”