Using Dynamic Optimization for Reproducing the Chameleon Visual System

Abstract

This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented