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Metode vizuelnog upravljanja robotskih sistema - pregled stanja u oblasti istraživanja
Methods for visual servoing of robotic systems: A state of the art survey
dc.creator | Jokić, Aleksandar | |
dc.creator | Petrović, Milica | |
dc.creator | Miljković, Zoran | |
dc.date.accessioned | 2022-09-19T18:24:24Z | |
dc.date.available | 2022-09-19T18:24:24Z | |
dc.date.issued | 2018 | |
dc.identifier.issn | 0040-2176 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2776 | |
dc.description.abstract | U ovom preglednom radu su prikazane metode vizuelnog upravljanja robotskih sistema, sa primarnim fokusom na mobilne robote sa diferencijalnim pogonom. Analizirane su standardne metode vizuelnog upravljanja bazirane na (i) greškama u parametrima slike (engl. Image-Based Visual Servoing - IBVS) i (ii) izdvojenim karakteristikama sa slike neophodnim za estimaciju položaja izabranog objekta (engl. Position-Based Visual Servoing - PBVS) i poređene sa novom metodom direktnog vizuelnog upravljanja (engl. Direct Visual Servoing - DVS). U poređenju sa IBVS i PBVS metodama, DVS metod se odlikuje višom tačnošću, ali i manjim domenom konvergencije. Zbog ovog razloga je DVS metod upravljanja pogodan za integraciju u hibridne sisteme vizuelnog upravljanja. Takođe, predstavljeni su radovi koji unapređuju sistem vizuelnog upravljanja korišćenjem stereo sistema (sistem sa dve kamere). Stereo sistem, u poređenju sa alternativnim metodama, omogućava tačniju ocenu dubine karakterističnih objekata sa slike, koja je neophodna za zadatke vizuelnog upravljanja. Predmet analize su i radovi koji integrišu tehnike veštačke inteligencije u sistem vizuelnog upravljanja. Ovim tehnikama sistemi vizuelnog upravljanja dobijaju mogućnost da uče, čime se njihov domen primene znatno proširuje. Na kraju, napominje se i mogućnost integracije vizuelne odometrije u sisteme vizuelnog upravljanja, što prouzrokuje povećanje robusnosti čitavog robotskog sistema. | sr |
dc.description.abstract | This paper surveys the methods used for visual servoing of robotic systems, where the main focus is on mobile robot systems. The three main areas of research include the Direct Visual Servoing, stereo vision systems, and artificial intelligence in visual servoing. The standard methods such as Image-Based Visual Servoing (IBVS) and Position-Based Visual Servoing (PBVS) are analyzed and compared with the new method named Direct Visual Servoing (DVS). DVS methods have better accuracy, compared to IBVS and PBVS, but have limited convergence area. Because of their high accuracy, DVS methods are suitable for integration into hybrid systems. Furthermore, the use of the stereo systems for visual servoing is comprehensively analyzed. The main contribution of the stereo system is the accurate depth estimation, which is critical for many visual servoing tasks. The use of artificial intelligence (AI) in visual servoing purposes has also gained popularity over the years. AI techniques give visual servoing controllers the ability to learn by using predefined examples or empirical knowledge. The learning ability is crucial for the implementation of robotic systems in a real-world dynamic manufacturing environment. Also, we analyzed the use of visual odometry in combination with a visual servoing controller for creating more robust and reliable positioning system. | en |
dc.publisher | Savez inženjera i tehničara Srbije, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35004/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Tehnika | |
dc.subject | vizuelno upravljanje | sr |
dc.subject | veštačka inteligencija | sr |
dc.subject | robotski sistemi | sr |
dc.subject | obrada slike | sr |
dc.subject | mašinsko učenje | sr |
dc.subject | inteligentni tehnološki sistemi | sr |
dc.subject | Visual servoing | en |
dc.subject | robotic systems | en |
dc.subject | machine learning | en |
dc.subject | intelligent manufacturing systems | en |
dc.subject | computer vision | en |
dc.subject | artificial intelligence | en |
dc.title | Metode vizuelnog upravljanja robotskih sistema - pregled stanja u oblasti istraživanja | sr |
dc.title | Methods for visual servoing of robotic systems: A state of the art survey | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 816 | |
dc.citation.issue | 6 | |
dc.citation.other | 73(6): 801-816 | |
dc.citation.rank | M51 | |
dc.citation.spage | 801 | |
dc.citation.volume | 73 | |
dc.identifier.doi | 10.5937/tehnika1806801J | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1475/2773.pdf | |
dc.type.version | publishedVersion |