Decoupled Visual Servoing With Fuzzy Q-Learning

The objective of visual servoing aims to control an object's motion with visual feedbacks and becomes popular recently. Problems of complex modeling and instability always exist in visual servoing methods. Moreover, there are few research works on selection of the servoing gain in image-based visual servoing (IBVS) methods. This paper proposes an IBVS method with Q-Learning, where the learning rate is adjusted by a fuzzy system. Meanwhile, a synthetic preprocess is introduced to perform feature extraction. The extraction method is actually a combination of a color-based recognition algorithm and an improved contour-based recognition algorithm. For dealing with underactuated dynamics of the unmanned aerial vehicles (UAVs), a decoupled controller is designed, where the velocity and attitude are decoupled through attenuating the effects of underactuation in roll and pitch and two independent servoing gains, for linear and angular motion servoing, respectively, are designed in place of single servoing gain in traditional methods. For further improvement in convergence and stability, a reinforcement learning method, Q-Learning, is taken for adaptive servoing gain adjustment. The Q-Learning is composed of two independent learning agents for adjusting two serving gains, respectively. In order to improve the performance of the Q-Learning, a fuzzy-based method is proposed for tuning the learning rate. The results of simulations and experiments on control of UAVs demonstrate that the proposed method has better properties in stability and convergence than the competing methods.