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Visual servoing to catch fish using global/local GA search

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2 Author(s)
Suzuki, H. ; Fukui Nat. Coll. of Technol., Japan ; Minami, M.

This paper presents a vision-related technique for a real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA. In the GA process, the computation of the fitness function is based on the configuration of an object model designated as the surface-strips model. To evaluate the effectiveness of the proposed recognition method, experiments to track a fish by a hand-eye camera and catch the fish with a net attached to the hand of the manipulator have been performed.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:10 ,  Issue: 3 )