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AUTOMATICA
2007

Navigation function-based visual servo control

13 years 3 months ago
Navigation function-based visual servo control
Abstract: I n this paper, the mapping between the desired camera feature vector and the desired camera pose (i.e., the position, and orientation) is investigated to develop a measurable image Jacobian-like matrix. An image-space path planner is then proposed to generate a desired image trajectory based on this measurable image Jacobian-like matrix and an image space navigation function (NF) (ie., a special potential field function) while satisfying rigid body constraints. An adaptive, homography-based visual servo tracking controller is then developed to navigate the position and orientation of a camera held by the end-effector of a robot manipulator to a goal position and orientation along the desired image-space trajectoy while ensuring the target points remain visible (i.e., the target points avoid selfocclusion and remain in the .field-of-view (FOV)) under certain technical restrictions. Due to the inherent nonlinear nature of the problem and the lack of depth information from a mo...
Jian Chen, Darren M. Dawson, Warren E. Dixon, Vila
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2007
Where AUTOMATICA
Authors Jian Chen, Darren M. Dawson, Warren E. Dixon, Vilas K. Chitrakaran
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