ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
Global path planning for robust visual servoing in complex environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Rational systems and matrix inequalities to the multicriteria analysis of visual servos
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
What can prediction bring to image-based visual servoing?
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual servoing for large camera displacements
IEEE Transactions on Robotics
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
Ensuring visibility in calibration-free path planning for image-based visual servoing
IEEE Transactions on Robotics
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This paper dealswith the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formulated into state, output, and input constraints, respectively. Based on the predictive-control strategy, the IBVS task is written into a nonlinear optimization problem in the image plane, where the constraints can be easily and explicitly taken into account. Second, the contribution of the image prediction and influence of the prediction horizon are pointed out. The image prediction is obtained due to a model. The latter can be a local model based on the interaction matrix or a nonlinear global model based on 3-D data. Its choice is discussed with respect to the constraints to be handled. Finally, simulations that were obtained with a 6-degree-of-freedom (DOF) free-flying camera highlight the potential advantages of the proposed approach with respect to the image prediction and the constraint handling.