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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.
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Keywords:
- camera-space manipulation /
- blending crossover /
- differential evolution /
- parameter estimation
[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)
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[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)
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