Hybrid strategies for image constraints avoidance in visual servoing

In this paper, hybrid motion control and planning strategies for image constraints avoidance in robot visual servoing are presented. The proposed methods consist of a local switching control method and a global hybrid trajectory planning method. In local switching control, image local minima and image singularities can both be resolved by hybrid image-based and position-based visual servoing. The global hybrid trajectory planner is based on the artificial potential field method and various Cartesian and image constraints are incorporated. Based on the proposed methods, motion planning for image boundaries and image local minima avoidance is considered in this paper. Experimental and simulation results are given to demonstrate the efficiency of the proposed methods.