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Hybrid strategies for image constraints avoidance in visual servoing

Lingfeng Deng, F. Janabi-Sharifi, W.J. Wilson
IEEE/RSJ International Conference on Intelligent Robots and System  
In this paper, hybrid motion control and planning strategies for image constraints avoidance in robot visual servoing are presented.  ...  In local switching control, image local minima and image singularities can both be resolved by hybrid image-based and position-based visual servoing.  ...  Conclusion In this paper, hybrid motion control and planning strategies for image constraints avoidance in robot visual servoing are proposed.  ... 
doi:10.1109/irds.2002.1041413 dblp:conf/iros/DengJW02 fatcat:favkgfbbhjcelfxmm52kyhjfae

Survey of Visual Servoing Control Schemes for Mobile Robot Navigation

Hend Hafez, Mohammed Marey, Farid Tolbah, Magdy Abdelhameed
2017 Scientific Journal of October 6 University  
In this paper, visual servoing control scheme for mobile robot navigation is discussed. The survey introduces a brief discussion of the subjects of the system under consideration.  ...  These subjects include mobile robot platform kinematics, vision systems, visual servoing, mapping, navigation, automatic control, and finally the avoidance techniques used to avoid obstacle during the  ...  , which allows us to obtain a simple control scheme: (3.6) Hybrid based visual servoing Sunhyo Kim and Se-Young Oh, 2007 [30] presented a new hybrid fuzzy control method for visual servoing of mobile  ... 
doi:10.21608/sjou.2017.31609 fatcat:ie74ktgavbanlef4akcirkvxu4

A Visual Servoing approach for road lane following with obstacle avoidance

Danilo Alves de Lima, Alessandro Correa Victorino
2014 17th International IEEE Conference on Intelligent Transportation Systems (ITSC)  
The final solution is a validation scheme for the Visual Servoing velocities which allows the obstacle avoidance, taking into account the car kinematics and some dynamics constraints.  ...  This paper presents a local navigation strategy with obstacle avoidance applied to autonomous robotic automobiles in urban environments, based on the validation of a Visual Servoing controller in a Dynamic  ...  ACKNOWLEDGEMENT This work was carried out and funded in the framework of the Equipex ROBOTEX (Reference ANR-10-EQPX-44-01).  ... 
doi:10.1109/itsc.2014.6957725 dblp:conf/itsc/LimaV14 fatcat:d4l3bpafr5ddda55drekrangly

Visual Servoing in the Large

Daniele Fontanelli, Antonio Danesi, Felipe A. W. Belo, Paolo Salaris, Antonio Bicchi
2009 The international journal of robotics research  
With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate  ...  The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry  ...  In Figures 11a-c , the images stored in the topological map (i.e. desired images for the visual servoing) are represented.  ... 
doi:10.1177/0278364908097660 fatcat:e5wif53ej5g2rpdtqml3mmp2ba

Image-based Visual Servoing Control of Robot Manipulators Using Hybrid Algorithm with Feature Constraints

Xiaolin Ren, Hongwen Li, Yuanchun Li
2020 IEEE Access  
The challenge in addressing uncalibrated visual servoing (VS) control of robot manipulators with unstructured environments is to obtain appropriate interaction matrix and keep the image features in the  ...  Since the camera and robot model parameters are not required in developing the control strategy, the servoing task can be fulfilled flexibly and simply.  ...  HYBRID ALGORITHM OF VISUAL SERVOING SYSTEM WITH FEATURE CONSTRAINTS The IBVS by combing B-ELM with SVSF (B-ELM-SVSF) strategy with feature constraints is shown in Fig.4 .  ... 
doi:10.1109/access.2020.3042207 fatcat:wxjzaszbmbe3xna6a7otfjjzse

Hybrid Adaptive Vision—Force Control for Robot Manipulators Interacting with Unknown Surfaces

Antonio C. Leite, Fernando Lizarralde, Liu Hsu
2009 The international journal of robotics research  
Thus, an interesting solution is to combine visual servoing and force control in a hybrid control scheme so that the advantages of each sensing mode may be simultaneously achieved for a given interaction  ...  A hybrid control scheme based on adaptive visual servoing and direct force control is proposed for robot manipulators to perform interaction tasks on smooth surfaces.  ...  Visual Servoing In this work, the visual servoing approach is used to provide closed-loop position control for the robot end-effector.  ... 
doi:10.1177/0278364909101932 fatcat:2n57hcr54fat3didkxrvhxnb2i

Constrained Image-Based Visual Servoing of Robot Manipulator with Third-Order Sliding-Mode Observer

Xiuyan Peng, Jiashuai Li, Bing Li, Jiawei Wu
2022 Machines  
A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study.  ...  In the proposed method, the joint velocity and system centralized uncertainties are estimated simultaneously based on a third-order sliding-mode observer, and the image-based visual servoing problem is  ...  Therefore, it is crucial to consider the system constraints in designing the controller of visual servoing. One strategy for dealing with constraints is through the path planning technique.  ... 
doi:10.3390/machines10060465 fatcat:4av7qfjehbfpxnfek2hhdv6mly

Real-time visual predictive controller for image-based trajectory tracking of a mobile robot

Guillaume Allibert, Estelle Courtial, Youssoufi Touré
2008 IFAC Proceedings Volumes  
This paper deals with the design of a real-time controller for trajectory tracking in the image plane. The Image-Based Visual Servoing (IBVS) task is addressed by a visual predictive approach.  ...  Visibility constraints are added to point out the capability of the control to avoid obstacles.  ...  Several control schemes can be distinguished : image-based (2D), position-based (3D) and hybrid visual servoing Chaumette and Hutchinson [2006] , Chaumette and Hutchinson [2007] .  ... 
doi:10.3182/20080706-5-kr-1001.01905 fatcat:45catxf6anhmjg4t4aapuh52pq

A visual servoing path-planning strategy for cameras obeying the unified model

T. T. Shen, G. Chesi, Y. S. Hung
2010 2010 IEEE International Symposium on Computer-Aided Control System Design  
In this paper, a path-planning strategy for visual servoing is proposed for any camera obeying this unified model.  ...  It is worth remarking that visual servoing path-planning for non conventional perspective cameras has not been proposed yet in the literature. 978-1-4244-5355-9/10/$26.00 ©2010 IEEE  ...  The authors would like to thank the Associate Editor and the Reviewers for their useful comments.  ... 
doi:10.1109/cacsd.2010.5612865 dblp:conf/cacsd/ShenCH10 fatcat:gbfgf54ogvahjhchzracyona2q

Visual predictive control for manipulators with catadioptric camera

Guillaume Allibert, Estelle Courtial, Youssoufi Toure
2008 2008 IEEE International Conference on Robotics and Automation  
This paper deals with Image Based Visual Servoing (IBSV) by a Visual Predictive Control (VPC) approach.  ...  Based on Nonlinear Model Predictive Control (NMPC), the visual servoing problem is formulated into a nonlinear constrained minimization problem in the image plane.  ...  The authors would like to thank François Chaumette for many fruitful discussions and constructive comments.  ... 
doi:10.1109/robot.2008.4543258 dblp:conf/icra/AllibertCT08 fatcat:itr4jnkgsrhutlhcxzbwqwizf4

A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

Jorge Pomares, Ivan Perea, Gabriel J. García, Carlos A. Jara, Juan A. Corrales, Fernando Torres
2011 Sensors  
The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization  ...  system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object.  ...  Hybrid Tasks Definition In image-based visual servoing systems, the control is directly carried out in the image space.  ... 
doi:10.3390/s111009839 pmid:22163729 pmcid:PMC3231276 fatcat:v47y43yycvchjffyoudclnek54

ROBOTIC ADAPTIVE IMPEDANCE CONTROL BASED ON VISUAL GUIDANCE

Li Erchao, Li Zhanming, He Junxue
2015 International Journal on Smart Sensing and Intelligent Systems  
Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment.  ...  Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images,and the nonlinear mapping between the image features of the curved line and the robot joint angle is  ...  Cheah propose a visually servoed adaptive controller for motion and force tracking with uncertainties in the constraint surface, kinematics, dynamics, and camera model, the robot can track the desired  ... 
doi:10.21307/ijssis-2017-847 fatcat:k5d7g3j6enb4rbkmeosf7ay22y

Visual servoing based mobile robot navigation able to deal with complete target loss

Wenhao Fu, Hicham Hadj-Abdelkader, Etienne Colle
2013 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)  
This paper combines the reactive collision avoidance methods with image-based visual servoing control for mobile robot navigation in an indoor environment.  ...  We validate our strategy in a real experiment for an indoor mobile robot navigation in presence of obstacles.  ...  For the second issue, a hybrid method was introduced to combine visual servoing control and collision avoidance control [4] .  ... 
doi:10.1109/mmar.2013.6669961 fatcat:l4enaiqdbnedhgu7rkobwu2a2q

3D Model Automatic Exploration: Smooth and Intelligent Virtual Camera Control [chapter]

Zaynab Habibi, Guillaume Caron, El Mustapha Mouaddib
2015 Lecture Notes in Computer Science  
Secondly, in order to achieve a realistic automatic navigation we must avoid obstacles, ensure a relevant camera orientation during its motion and regulate the visual movement in the produced image.  ...  In this paper, we propose a solution to this problem based on a hierarchical algorithm, which combines the main task to be achieved and the realistic constraints.  ...  On the opposite, the virtual visual servoing framework, while not dealing with visual entropy, elegantly merges, in the same solver, all constraints simultaneously.  ... 
doi:10.1007/978-3-319-16631-5_45 fatcat:sealeadpb5diva34orrxdvyesy

What can prediction bring to Image-Based Visual Servoing ?

Guillaume Allibert, Estelle Courtial
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix.  ...  Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem.  ...  The authors gratefully acknowledge François Chaumette for his original idea and for the fruitful discussions.  ... 
doi:10.1109/iros.2009.5354208 dblp:conf/iros/AllibertC09 fatcat:sc7mgfsspvcbndvbsjmalerbh4
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