Visual servoing: a global path-planning approach

G. Chesi, Y.S. Hung
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new pathplanning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through a particular extension of the Euler parameters in order to obtain an
more » ... expression of the rotation matrix as a quadratic function of unconstrained variables, hence largely simplified with respect to standard parameterizations which involve transcendental functions. Then, polynomials of arbitrary degree are used to complete the parametrization and formulate a general optimization where a number of constraints and costs can be considered. The optimal trajectory is followed by tracking the image trajectories with standard IBVS controllers.
doi:10.1109/robot.2007.363629 dblp:conf/icra/ChesiH07 fatcat:5gysvhh73zcunj2h7ylzjlzure