Chayatat Ratanasawanya Min He May 13, 2010. Background information The goal Tasks involved in...

Visual servoing & Tracking using 2DOF helicopter:

The results

Chayatat RatanasawanyaMin He

May 13, 2010

Background information The goal Tasks involved in implementation

◦ Depth estimation◦ Pitch & yaw correction angle calculation◦ Image processing◦ LQR controller

Experimental setup Results Data analysis Conclusion Questions/comments

Overview

Visual servo (VS) control – the use of computer vision data to control the motion of a robot.

Relies on techniques from computer vision, image processing, and control theory.

Two camera configurations:◦ Eye-in-hand: camera is mounted on a robot

manipulator or on a mobile robot.◦ Camera is fixed in the workspace

Background

Background The goal of visual servoing systems is to

minimize the error defined by where s is visual feature vector

s* is the desired visual feature vector

Design of s: ◦ Consists of a set of features that are readily

available in the image data (IBVS), or◦ Consists of a set of 3D parameters, which must

be estimated from image measurements (PBVS)

*)( sse t

Use visual servoing techniques to make the 2DOF helicopter be able to track a constantly moving ping-pong ball.

Quanser 2DOF helicopter◦ A typical two-rotor helicopter model on a stand.◦ It pitches and yaws around a pivot point.

The goal

Tasks involved:◦Depth estimation◦Pitch & yaw correction angles calculation◦Image processing◦LQR controller

Implementation

Experimental setupWe did 4 experiments altogether:-2 tests with the camera 25” from the wall-2 tests with the camera moved further back

Use the diameter of the ball in image to estimate the depth

Depth estimation

Depth, Z

Focal lengthf=268 pixel

Center of projection (CoP)

Actual ball diameter db=40mm

Ball diameter on image, d

d

dfZ

d

d

Z

f

b

b

Correction angle calculation

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Ball diameter on image, d

1

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l

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Pivot point of the2DOF helicopter

ψ

Z

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Correction angle calculation

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Ball diameter on image, d

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Pivot point of the2DOF helicopter

ψinc

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Z

Image processing algorithm

A controller design technique that works with the state-space representation of a system.

with weighting matrices Q and R, calculate

Same action as a PD or a PID controller. It is a position-based, joint-level controller. It

accepts desired pitch and yaw angles and brings the helicopter to those angles.

The desired angles are updated according to image processing result.

LQR controller

DuCxy

BuAxx

kxu

Result: Visual servoing test 1

Video from on-board camera

Result: Visual servoing test 2

Video from on-board camera

Result: Tracking

Video from on-board camera

Experiment 1 - Visual servoing 2DOF helicopter is at position 1 (25” from

background)

Data Analysis

Experiment 1 – visual servoing at position1

Data Analysis

Experiment 1 – visual servoing at position1

Data Analysis

Experiment 1 – visual servoing at position1 ◦ Horizontal direction (Yaw)

overshoot = 9.53% Settling time = 16.19s Steady state error = 1 pixel

◦ Vertical direction (Pitch) overshoot = 2.75% Settling time = 14.48s Steady state error = 0.9 pixel

Data Analysis

Experiment 2 – tracking at position 1

Data Analysis

Experiment 3 – visual servoing at position 2 The helicopter is moved further from the

background

Data Analysis

Experiment 3 – visual servoing at position 2◦ Horizontal direction (Yaw)

overshoot = 10% Settling time = 17s Steady state error = 1.4 pixel

◦ Vertical direction (Pitch) overshoot = 7.09% Settling time = 5.75s Steady state error = 0.4 pixel

Data Analysis

Experiment 4 – tracking at position 2

Data Analysis

The implemented visual servoing algorithm is simple because the 2DOF helicopter is a very simple system.

Data shows that the 2DOF is able to “visual servo” the ball to the middle of the image frame. The LQR controller works better for the pitch than for the yaw: smaller overshoot and steady-state error.

Conclusion

It is able to track a constantly moving ping pong ball. The limitation is that the ball cannot move faster than 38.1cm/s.

The distance of the ball from the camera does not matter as seen in tracking when the ball moves closer to the camera.

The location of the 2DOF helicopter does not affect the performance of the system.

Conclusion

Questions/comments are welcome

Thank you