RLC-Servo: a full-automatic hand-eye cooperative servo model based on reinforcement learning

Minhao Li; Xinxin Zhang

doi:10.1117/12.2680741

27 June 2023 RLC-Servo: a full-automatic hand-eye cooperative servo model based on reinforcement learning

Minhao Li, Xinxin Zhang

Proceedings Volume 12705, Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022); 127053A (2023) https://doi.org/10.1117/12.2680741
Event: Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022), 2022, Nanjing, China

Abstract

Hand-eye cooperative servo refers that the robot can perform corresponding action adjustments by analyzing images taken from the camera to achieve the purposes like object tracking and grasping in a calibrated visual system. The process of analyzing images includes a series of algorithms such as feature extraction and feature matching. The traditional visual servo model provides a generally effective solution but cannot control the motion velocity of robotic arms efficiently, which brings two obvious drawbacks: The too-fast motion speed may cause the object falling out of the FOV of the camera, while the too-slow motion speed will cost a long time to convergence. In this paper, we propose an upgraded servo algorithm by introducing Reinforcement Learning (RL) into the process of controlling. We define the servo error based on feature points and divide it into a certain number of sections to construct the state space. The agent is trained to adjust the robotic action according to the specific servo error, thereby accelerating the servo convergence process while maintaining the feature points visible. We first perform extensive experiments in the virtual simulated scene and then build a real-world visual system for evaluation. Results show that the RL-based servo model is capable of reducing 59.6% of iterations in the virtual scene and 16.9% of iterations in the real scene by contrast with the traditional methods, which illustrates the robustness and efficiency of our proposed model.

Citation Download Citation

Minhao Li and Xinxin Zhang "RLC-Servo: a full-automatic hand-eye cooperative servo model based on reinforcement learning", Proc. SPIE 12705, Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022), 127053A (27 June 2023); https://doi.org/10.1117/12.2680741

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KEYWORDS

Servomechanisms

Cameras

Visualization

Design and modelling

Detection and tracking algorithms

Image processing

Calibration

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