Visual Servoing via Navigation Functions
CALIFORNIA UNIV BERKELEY
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This technical report presents a framework for visual servoing that guarantees convergence to a visible goal from most initially visible configurations 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 workspace 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.
- Numerical Mathematics
- Fluid Mechanics