A blending crossover differential evolution approach to camera space manipulation parameter optimization

Xie Yu; Zhao Chun-Xia; Zhang Hao-Feng; Yan Xue-Jun; Chen De-Bao

doi:10.7498/aps.64.020701

Abstract

A blending crossover differential evolution algorithm is proposed to increase the precision of camera-space manipulation (CSM) system. In this approach, six view parameters and flattening parameter are assembled into a single parameter of blending crossover differential evolution; the positioning precision of camera-space manipulation is set to be a fitness function.The CSM system can obtain the optimal parameter combination by evolutionary iteration.Experimental results of a virtual robot system show the robot positioning precision is improved by blending crossover differential evolution algorithm.

Keywords:

Authors and contacts

1.
School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;
2.
School of Physics and Electronic Information, Huaibei Normal University, Huaibei 235000, China
Funds: Project supported by the National Natural Science Foundation of China (Grant No. 61272220), the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 61101197) and the Natural Science Foundation of Anhui Province, China (Grant No. 1308085MF82).

References

[1]	Siciliano B, Villani L 1999 Robot Force Control (Boston: Kluwer)
[2]	Skaar S B, Brockman W H, Hanson R 1987 Int. J. Robot. Res. 6 20
[3]	Skaar S B, Brockman W H, Jang W 1990 Int. J. Robot. Res. 9 22
[4]	Gonzalez-Galvana E J, Loredo-Flores J, Cervantes-Sanchez J, Aguilera-Cortes L A, Steven S B 2008 Robot. Computer-Integrated Manufact. 24 77
[5]	Zhang B, Wang J J, Rossano R, Martinez C, Kock S 2011 IEEE Proceedings of the Robotics and Biomimetics Phuket, Thailand, December 7-11 2011 p944
[6]	Seelinger M, Yode J D, Baumgartner E T, Skaar S B 2002 IEEE Trans. Robot. Automat. 18 957
[7]	Storn R M, Price K V 1997 J. Glob. Optimiz. 11 341
[8]	Price K V, Storn R M, Lampinen J A 2006 Differential Evolution: A Practical Approach to Global Optimization (Berlin: Springer) pp19-54
[9]	Tenaglia G C, Lebensztajn L 2014 IEEE Trans. Magnet. 50 625
[10]	Pan K J, Chen H, Tan Y J 2008 Acta Phys. Sin. 57 5956 (in Chinese) [潘克家, 陈华, 谭永基 2008 物理学报 57 5956]
[11]	Wang J Y, Huang D X 2008 Acta Phys. Sin. 57 2755 (in Chinese) [王钧炎, 黄德先 2008 物理学报 57 2755]
[12]	Zhang W Z, Long W, Jiao J J 2012 Acta Phys. Sin. 61 220506 (in Chinese) [张文专, 龙文, 焦建军 2012 物理学报 61 220506]
[13]	Li N Q, Pan W, Yan L S, Luo B, Xu M F, Jiang N 2011 Chin. Phys. B 20 060502
[14]	Brest J, Greiner S, Boskovic B, Mernik M, Zumer V 2006 IEEE Trans. Evolution. Comput. 10 646
[15]	Liu J, Lampinen J 2005 Soft Comput. 9 448
[16]	Zhang J Q, Sanderson A C 2009 IEEE Trans. Evolution. Comput. 13 945
[17]	Eshelman L J 1993 Foundat. Genetic Algorithms 2 187
[18]	Gonzalez-Galvan E J, Skaar S B, Korde U A, Chen W Z 1997 Int. J. Robot. Res. 16 240
[19]	Turkey M, Poli R 2014 IEEE Trans. Evolution. Comput. 22 159
[20]	He S, Wu Q H, Saunders J R 2009 IEEE Trans. Evolution. Comput. 13 973
[21]	Bjrck A 1996 Numerical Methods for Least Squares Problems 1996 (Philadelphia: Siam)

Cited By

[1]	Siciliano B, Villani L 1999 Robot Force Control (Boston: Kluwer)
[2]	Skaar S B, Brockman W H, Hanson R 1987 Int. J. Robot. Res. 6 20
[3]	Skaar S B, Brockman W H, Jang W 1990 Int. J. Robot. Res. 9 22
[4]	Gonzalez-Galvana E J, Loredo-Flores J, Cervantes-Sanchez J, Aguilera-Cortes L A, Steven S B 2008 Robot. Computer-Integrated Manufact. 24 77
[5]	Zhang B, Wang J J, Rossano R, Martinez C, Kock S 2011 IEEE Proceedings of the Robotics and Biomimetics Phuket, Thailand, December 7-11 2011 p944
[6]	Seelinger M, Yode J D, Baumgartner E T, Skaar S B 2002 IEEE Trans. Robot. Automat. 18 957
[7]	Storn R M, Price K V 1997 J. Glob. Optimiz. 11 341
[8]	Price K V, Storn R M, Lampinen J A 2006 Differential Evolution: A Practical Approach to Global Optimization (Berlin: Springer) pp19-54
[9]	Tenaglia G C, Lebensztajn L 2014 IEEE Trans. Magnet. 50 625
[10]	Pan K J, Chen H, Tan Y J 2008 Acta Phys. Sin. 57 5956 (in Chinese) [潘克家, 陈华, 谭永基 2008 物理学报 57 5956]
[11]	Wang J Y, Huang D X 2008 Acta Phys. Sin. 57 2755 (in Chinese) [王钧炎, 黄德先 2008 物理学报 57 2755]
[12]	Zhang W Z, Long W, Jiao J J 2012 Acta Phys. Sin. 61 220506 (in Chinese) [张文专, 龙文, 焦建军 2012 物理学报 61 220506]
[13]	Li N Q, Pan W, Yan L S, Luo B, Xu M F, Jiang N 2011 Chin. Phys. B 20 060502
[14]	Brest J, Greiner S, Boskovic B, Mernik M, Zumer V 2006 IEEE Trans. Evolution. Comput. 10 646
[15]	Liu J, Lampinen J 2005 Soft Comput. 9 448
[16]	Zhang J Q, Sanderson A C 2009 IEEE Trans. Evolution. Comput. 13 945
[17]	Eshelman L J 1993 Foundat. Genetic Algorithms 2 187
[18]	Gonzalez-Galvan E J, Skaar S B, Korde U A, Chen W Z 1997 Int. J. Robot. Res. 16 240
[19]	Turkey M, Poli R 2014 IEEE Trans. Evolution. Comput. 22 159
[20]	He S, Wu Q H, Saunders J R 2009 IEEE Trans. Evolution. Comput. 13 973
[21]	Bjrck A 1996 Numerical Methods for Least Squares Problems 1996 (Philadelphia: Siam)

[1]	Li Jing, Ding Hai-Tao, Zhang Dan-Wei. Quantum Fisher information and parameter estimation in non-Hermitian Hamiltonians. Acta Physica Sinica, 2023, 72(20): 200601. doi: 10.7498/aps.72.20230862
[2]	Cao Bao-Feng, Li Peng, Li Xiao-Qiang, Zhang Xue-Qin, Ning Wang-Shi, Liang Rui, Li Xin, Hu Miao, Zheng Yi. Detection and parameter estimation of weak pulse signal based on strongly coupled Duffing oscillators. Acta Physica Sinica, 2019, 68(8): 080501. doi: 10.7498/aps.68.20181856
[3]	Huang Yu, Liu Yu-Feng, Peng Zhi-Min, Ding Yan-Jun. Research on particle swarm optimization algorithm with characteristic of quantum parallel and its application in parameter estimation for fractional-order chaotic systems. Acta Physica Sinica, 2015, 64(3): 030505. doi: 10.7498/aps.64.030505
[4]	Wang Liu, He Wen-Ping, Wan Shi-Quan, Liao Le-Jian, He Tao. Evolutionary modeling for parameter estimation for chaotic system. Acta Physica Sinica, 2014, 63(1): 019203. doi: 10.7498/aps.63.019203
[5]	Wang Yan, Zou Nan, Fu Jin, Liang Guo-Long. Estimation of single hydrophone target motion parameter based on cepstrum analysis. Acta Physica Sinica, 2014, 63(3): 034302. doi: 10.7498/aps.63.034302
[6]	Zhang Shu-Ning, Zhao Hui-Chang, Xiong Gang, Guo Chang-Yong. Separation and parameter estimation of single channel sinusoidal frequency modulated signal mixture sources based on particle filtering. Acta Physica Sinica, 2014, 63(15): 158401. doi: 10.7498/aps.63.158401
[7]	Cao Xiao-Qun. Parameter estimation of nonlinear map based on second-order discrete variational method. Acta Physica Sinica, 2013, 62(8): 080506. doi: 10.7498/aps.62.080506
[8]	Lin Jian, Xu Li. Parameter estimation for chaotic systems based on hybrid biogeography-based optimization. Acta Physica Sinica, 2013, 62(3): 030505. doi: 10.7498/aps.62.030505
[9]	Wang Shi-Yuan, Feng Jiu-Chao. A novel method of estimating parameter and its application to blind separation of chaotic signals. Acta Physica Sinica, 2012, 61(17): 170508. doi: 10.7498/aps.61.170508
[10]	Song Jun-Qiang, Cao Xiao-Qun, Zhang Wei-Min, Zhu Xiao-Qian. Estimating parameters for coupled air-sea model with variational method. Acta Physica Sinica, 2012, 61(11): 110401. doi: 10.7498/aps.61.110401
[11]	Chen Di-Yi, Liu Ye, Ma Xiao-Yi. Parameter joint estimation of phase space reconstruction in chaotic time series based on radial basis function neural networks. Acta Physica Sinica, 2012, 61(10): 100501. doi: 10.7498/aps.61.100501
[12]	Long Wen, Jiao Jian-Jun. Parameter estimation for chaotic system based on evolution algorithm with hybrid crossover. Acta Physica Sinica, 2012, 61(11): 110507. doi: 10.7498/aps.61.110507
[13]	Wang Kai, Pei Wen-Jiang, Zhang Yi-Feng, Zhou Si-Yuan, Shao Shuo. Parameter estimate from coupled map lattices based on symbolic vector dynamics. Acta Physica Sinica, 2011, 60(7): 070502. doi: 10.7498/aps.60.070502
[14]	Cao Xiao-Qun, Song Jun-Qiang, Zhang Wei-Min, Zhao Jun, Zhang Li-Lun. Estimating parameters of chaotic system with variational method. Acta Physica Sinica, 2011, 60(7): 070511. doi: 10.7498/aps.60.070511
[15]	Chen Zheng, Zeng Yi-Cheng, Fu Zhi-Jian. A novel parameter estimation method of signal in chaotic background. Acta Physica Sinica, 2008, 57(1): 46-50. doi: 10.7498/aps.57.46
[16]	Pan Ke-Jia, Chen Hua, Tan Yong-Ji. Multi-exponential inversion of T2 spectrum in NMR based on differential evolution algorithm. Acta Physica Sinica, 2008, 57(9): 5956-5961. doi: 10.7498/aps.57.5956
[17]	Wang Jun-Yan, Huang De-Xian. Parameter estimation for chaotic systems based on hybrid differential evolution algorithm. Acta Physica Sinica, 2008, 57(5): 2755-2760. doi: 10.7498/aps.57.2755
[18]	Li Li-Xiang, Peng Hai-Peng, Yang Yi-Xian, Wang Xiang-Dong. Parameter estimation for Lorenz chaotic systems based on chaotic ant swarm algorithm. Acta Physica Sinica, 2007, 56(1): 51-55. doi: 10.7498/aps.56.51
[19]	Jia Fei-Lei, Xu Wei, Du Lin. Generalized synchronization of different orders of chaotic systems with unknown parameters and parameter identification. Acta Physica Sinica, 2007, 56(10): 5640-5647. doi: 10.7498/aps.56.5640
[20]	Gao Fei, Tong Heng-Qing. Parameter estimation for chaotic system based on particle swarm optimization. Acta Physica Sinica, 2006, 55(2): 577-582. doi: 10.7498/aps.55.577

Catalog

Vol. 64, Issue 2 - 2015-01-20

Metrics

Abstract views: 4853
PDF Downloads: 344
Cited By: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

Search

Article

留言板