Navigation Function Based Visual Servo Control
CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
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In this paper, a unique camera 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 i.e., 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 trajectory while ensuring the target points remain visible i.e., the target points avoid self-occlusion and remain the in the field-of view FOV under certain technical restrictions. The self-occlusion problem is also discussed. Due to the inherent nonlinear nature of the problem and the lack of depth information form a manocular system, a Lyapunov-based analysis is used to analyze the path planner and the adaptive controller. Simulation results are provided to illustrate the performance of the proposed approach.
- Theoretical Mathematics
- Computer Hardware