Enlargement of stable region in visual servo

Proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Potential is defined as the norm of an image feature error and the stable region is a downward convex region of the potential surface that includes a reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme