Navigation Function Based Visual Servo Control
Abstract
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2004
- Accession Number
- ADA465679
Entities
People
- D. M. Dason
- Jiayu Chen
- V. K. Chitrakaran
- W. E. Dixon
Organizations
- Clemson University