Constrained Visual Predictive Control of a Robotic Flexible Endoscope With Visibility and Joint Limits Constraints

IF 4.6 2区 计算机科学 Q2 ROBOTICS IEEE Robotics and Automation Letters Pub Date : 2024-12-25 DOI:10.1109/LRA.2024.3521679
Zhen Deng;Weiwei Liu;Guotao Li;Jianwei Zhang
{"title":"Constrained Visual Predictive Control of a Robotic Flexible Endoscope With Visibility and Joint Limits Constraints","authors":"Zhen Deng;Weiwei Liu;Guotao Li;Jianwei Zhang","doi":"10.1109/LRA.2024.3521679","DOIUrl":null,"url":null,"abstract":"In this letter, a constrained visual predictive control strategy (C-VPC) is developed for a robotic flexible endoscope to precisely track target features in narrow environments while adhering to visibility and joint limit constraints. The visibility constraint, crucial for keeping the target feature within the camera's field of view, is explicitly designed using zeroing control barrier functions to uphold the forward invariance of a visible set. To automate the robotic endoscope, kinematic modeling for image-based visual servoing is conducted, resulting in a state-space model that facilitates the prediction of the future evolution of the endoscopic state. The C-VPC method calculates the optimal control input by optimizing the model-based predictions of the future state under visibility and joint limit constraints. Both simulation and experimental results demonstrate the effectiveness of the proposed method in achieving autonomous target tracking and addressing the visibility constraint simultaneously. The proposed method achieved a reduction of 12.3% in Mean Absolute Error (MAE) and 56.0% in variance (VA) compared to classic IBVS.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 2","pages":"1513-1520"},"PeriodicalIF":4.6000,"publicationDate":"2024-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Robotics and Automation Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10814097/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

Abstract

In this letter, a constrained visual predictive control strategy (C-VPC) is developed for a robotic flexible endoscope to precisely track target features in narrow environments while adhering to visibility and joint limit constraints. The visibility constraint, crucial for keeping the target feature within the camera's field of view, is explicitly designed using zeroing control barrier functions to uphold the forward invariance of a visible set. To automate the robotic endoscope, kinematic modeling for image-based visual servoing is conducted, resulting in a state-space model that facilitates the prediction of the future evolution of the endoscopic state. The C-VPC method calculates the optimal control input by optimizing the model-based predictions of the future state under visibility and joint limit constraints. Both simulation and experimental results demonstrate the effectiveness of the proposed method in achieving autonomous target tracking and addressing the visibility constraint simultaneously. The proposed method achieved a reduction of 12.3% in Mean Absolute Error (MAE) and 56.0% in variance (VA) compared to classic IBVS.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
具有可视性和关节极限约束的机器人柔性内窥镜约束视觉预测控制
在这篇文章中,为机器人柔性内窥镜开发了一种约束视觉预测控制策略(C-VPC),以在狭窄环境中精确跟踪目标特征,同时坚持可见性和关节极限约束。能见度约束对于保持目标特征在相机视野内至关重要,使用归零控制屏障函数明确设计,以保持可见集的前向不变性。为了实现内窥镜机器人的自动化,对基于图像的视觉伺服进行了运动学建模,得到了一个状态空间模型,便于预测内窥镜状态的未来演变。C-VPC方法通过在可见性和联合极限约束下优化基于模型的未来状态预测来计算最优控制输入。仿真和实验结果都证明了该方法在实现自主目标跟踪和同时解决可见性约束方面的有效性。与经典IBVS相比,该方法的平均绝对误差(MAE)减少12.3%,方差(VA)减少56.0%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
相关文献
Barriers and facilitators to the engagement of physical activity among Black and African American cancer survivors during and after treatments.
IF 3.1 3区 医学Supportive Care in CancerPub Date : 2023-01-26 DOI: 10.1007/s00520-023-07601-0
Rachel Hirschey, Jingle Xu, Deirdre F Lea, John L Milner, Paulette Duggins, Karia Coleman, Randall Teal, Jessica Carda-Auten, Kara Giannone, Alison Hilton, Myra Waheed, Tammy Triglianos, Stephanie B Wheeler, Carmina G Valle, Ashley Leak Bryant
Heritable Susceptibility to Breast Cancer among African-American Women in the Detroit Research on Cancer Survivors Study.
IF 3.8 3区 医学Cancer Epidemiology Biomarkers & PreventionPub Date : 2020-11-01 DOI: 10.1158/1055-9965.EPI-20-0564
Kristen S Purrington, Sreejata Raychaudhuri, Michael S Simon, Julie Clark, Valerie Ratliff, Gregory Dyson, Douglas B Craig, Julie L Boerner, Jennifer L Beebe-Dimmer, Ann G Schwartz
来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
期刊最新文献
Table of Contents IEEE Robotics and Automation Society Information PRISM-TopoMap: Online Topological Mapping With Place Recognition and Scan Matching Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients CLID-SLAM: A Coupled LiDAR-Inertial Neural Implicit Dense SLAM With Region-Specific SDF Estimation
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1