DocumentCode :
2625199
Title :
Visual servoing: a global path-planning approach
Author :
Chesi, G. ; Hung, Y.S.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Kowloon
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
2086
Lastpage :
2091
Abstract :
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 path-planning 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 equivalent 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.
Keywords :
image reconstruction; matrix algebra; path planning; visual servoing; Euler parameters; IBVS controllers; image trajectories; object reconstruction; path planning; quadratic function; rotation matrix; unconstrained variables; visual servoing; Cameras; Cost function; Feedback; Image reconstruction; Optimal control; Path planning; Polynomials; Robots; Trajectory; Visual servoing; Constraints; Costs; Path-planning; Teaching-by-showing approach; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363629
Filename :
4209393
Link To Document :
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