基于动态 BFGS 法的无标定视觉伺服控制

摘要

Based on the dynamic BFGS (Broyden‐Fletcher‐Goldfarb‐Shanno ) method , an uncalibrated visual servoing control approach was presented for the real time tracking of a moving targets . The method directly estimated , global Hessian matrix containing the residual (the Hessian matrix of an object function) ,thus reducing the cost of computation .Meanwhile ,it solved the singularity problem of the Hessian matrix .According to the approximate affine model of the mapping relations between the joint variables map and the image plane , an estimation of the image Jacobian matrix was obtained , which increased the robustness in tracking a dynamic target . Based on the Matlab Robotools , a mechanical arm visual tracking system with three degrees of freedom was constructed . By means of simulation experiments ,the presented method was compared with the direct computing method of the residual term and the D‐DFP method . T he results verify the good tracking performance of the D‐BFGS method .%基于动态BFGS（Broyden‐Fletcher‐Goldfarb‐Shanno）法，研究了一种针对运动目标进行实时跟踪的无标定视觉伺服控制方案。通过直接估计包含残差项的全局 Hessian矩阵（即目标函数的Hessian矩阵）之逆，简化了直接计算残差项的计算量，同时解决了 Hessian矩阵之逆的奇异性问题。根据关节变量到图像平面映射关系的近似仿射模型推导了不依赖于目标的图像Jacobian矩阵估计量，提高了对动态目标跟踪的鲁棒性。借助Matlab Robotools工具箱，搭建了一个三自由度的机械臂视觉跟踪系统，通过仿真实验将本文的方法与残差项的直接计算法、动态变尺度法进行了对比，结果验证了该方法的良好跟踪性能。