In this paper, an image-based visual servoing (IBVS) controller with a 6 degree-of-freedom robotic manipulator that tracks moving objects is investigated using the proposed Deep Q-Networks and proportional–integral–derivative (DQN-PID) controller. First, the classical IBVS controller and the problem of feature loss and large steady-state error for tracking moving targets are introduced. Then, a DQN-PID based IBVS method is proposed to solve the problem of feature loss and large steady-state error and improve the servo precision, as the existing methods are hard to use for solve the problems. Specifically, the IBVS method is inherited by our controller to build the tracking model, and a value-based reinforcement learning method is proposed as an adaptive law for dynamically tuning the PID parameters in the discrete space, which can track the moving target and keep the servo feature in the field of the camera. Finally, compared with the different existing methods, the DQN-PID based IBVS method has merits of higher accuracy and more stable tracking, or generalization.
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April 2022
Research Article|
April 25 2022
Tracking moving target for 6 degree-of-freedom robot manipulator with adaptive visual servoing based on deep reinforcement learning PID controller
Fei Wang
;
Fei Wang
a)
1
Faculty of Robot Science and Engineering, Northeastern University
, NO. 195, Innovation Road, Hunnan District, Shenyang, People’s Republic of China
a)Author to whom correspondence should be addressed: [email protected]
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Baiming Ren;
Baiming Ren
2
College of Information Science and Engineering, Northeastern University
, NO. 3-11, Wenhua Road, Heping District, Shenyang, People’s Republic of China
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Yue Liu;
Yue Liu
1
Faculty of Robot Science and Engineering, Northeastern University
, NO. 195, Innovation Road, Hunnan District, Shenyang, People’s Republic of China
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Ben Cui
Ben Cui
1
Faculty of Robot Science and Engineering, Northeastern University
, NO. 195, Innovation Road, Hunnan District, Shenyang, People’s Republic of China
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1
Faculty of Robot Science and Engineering, Northeastern University
, NO. 195, Innovation Road, Hunnan District, Shenyang, People’s Republic of China
2
College of Information Science and Engineering, Northeastern University
, NO. 3-11, Wenhua Road, Heping District, Shenyang, People’s Republic of China
a)Author to whom correspondence should be addressed: [email protected]
Rev. Sci. Instrum. 93, 045108 (2022)
Article history
Received:
February 07 2022
Accepted:
April 05 2022
Citation
Fei Wang, Baiming Ren, Yue Liu, Ben Cui; Tracking moving target for 6 degree-of-freedom robot manipulator with adaptive visual servoing based on deep reinforcement learning PID controller. Rev. Sci. Instrum. 1 April 2022; 93 (4): 045108. https://doi.org/10.1063/5.0087561
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