Visual Control Law Tuning Using the JADE Algorithm Applied to Leaf Detection and Cutting

In the propagation of plant tissue in vitro it is necessary to obtain from the leaf a circular section cut. In order to achieve this type of cuts the visual feedback is used, allowing us to analyze the RGB planes to detect the green color and find the image centroid. In order to fulfill the cut objective a PD+ control is used with self-tuning based on the adaptive differential evolutionary algorithm JADE.