Visual servoing via navigation functions

Abstract-- This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configuration while maintaining full view of all the feature points along the way. The method applies to first and second order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy. Keywords-- Visual servoing, navigation functions, dynamics, vision-based control, obstacle avoidance, occlusions, finite field-of-view (FOV).

• Type: Journal
• Year: 2002
• Where: TROB
• Authors: Noah J. Cowan, Joel Weingarten, Daniel E. Koditschek
• Keywords: Navigation Functions, TROB 2002, Visible Configuration, Visible Goal