An experimental study of hybrid switched system approaches to visual servoing

Abstract— In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new hybrid switched system approach, in which a high-level decision maker selects between two visual servo controllers. We have evaluated our approach with simulations and experiments using three individual visual servo systems and three candidate switching rules. The proposed method is very promising for visual servo tasks in which there is a significant distance between the initial and goal configuration, or the task is one that can cause an individual visual servo system to fail. I. INTRO Visual servoing has proven to be a highly effective means to control a robot manipulator through the use of visual data. It provides a high degree of accuracy using even simple camera systems and robustness in the face of signal error and uncertainty of system parameters. Visual servo methods have classically been divided into two camps, Position Based Vi...

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Nicholas R. Gans, Seth Hutchinson
• Keywords: ICRA 2003, Individual Visual Servo, Robotics, Visual Servo, Visual Servo Systems