Visual servoing using discrete wavelet transform

This paper proposes a wavelet control method for visual servoing. In this control scheme, two kind of wavelet are employed, one is used to processing the image of the dynamical system, and the other is used to design the multeresolution PID controller. This method is applied to the visual servo control of the inverted pendulum system using a DSP equipped with a fixed vision camera. It has been developed an image digital algorithm with 2D wavelet transform to detect and calculate the cart and pendulum positions. The control law and the image digital algorithm have been implemented in the DSP, which works on NTSC format. It is presented several experimental results for the image digital algorithm detection and for the closed-loop system. The simulation and experiments results illustrate the effectiveness and good performance.