Optimal Camera Trajectory under Visibility Constraint in Visual Servoing: A Variational Approach

Author: Mezouar, Youcef

Source: Advanced Robotics, Volume 23, Numbers 12-13, 2009 , pp. 1817-1827(11)

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Abstract:

The principal deficiency of an image-based servo is that the induced three-dimensional (3-D) trajectories are not optimal and sometimes, especially when the displacements to realize are large, these trajectories are not physically valid, leading to the failure of the servoing process. In this paper, we adress the problem of generating trajectories of some image features that correspond to optimal 3-D trajectories in order to control efficiently a robotic system using an image-based control strategy. First, a collineation path between given the start and end points is obtained, and then the trajectories of the image features are derived. Path planning is formulated as a variational problem that allows us to consider simultaneously optimality and inequality constraints (visibility). A numerical method is employed for solving the path planning problem in the variational form.

Keywords: VISUAL SERVOING; VISIBILITY; TRAJECTORY PLANNING; OPTIMALITY; VARIATIONAL CALCULUS

Document Type: Research article

DOI: http://dx.doi.org/10.1163/016918609X12496340150410

Affiliations: 1: LASMEA, Université Blaise Pascal, 63177 Aubiere, France

Publication date: 2009-09-01