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...

• Type: Journal
• Year: 2007
• Where: AUTOMATICA
• Authors: Jian Chen, Darren M. Dawson, Warren E. Dixon, Vilas K. Chitrakaran
• Keywords: AUTOMATICA 2007, Image Jacobian-like Matrix, Measurable Image, Path Planner