Direct path planning in image plane and tracking for visual servoing

Junping Wang; An Liu; Hyungsuck Cho

doi:10.1117/12.754580

8 October 2007 Direct path planning in image plane and tracking for visual servoing

Junping Wang, An Liu, Hyungsuck Cho

Proceedings Volume 6719, Optomechatronic Systems Control III; 671905 (2007) https://doi.org/10.1117/12.754580
Event: International Symposium on Optomechatronic Technologies, 2007, Lausanne, Switzerland

Abstract

The image-based visual servoing would lead to image singularities that might cause control instabilities, and there exit other constraints such as the object should remain in the camera field of view and avoid obstacles. This problem can be solved by coupling path planning and image-based control. The trajectory is planned directly in the image space in our strategy to avoid the 3D estimation of the object, which is required in the motion space based path planning method. In the presented method, the initial path is given using the artificial potential field method without considering the constraints and then genetic algorithm based method is used to check and modify the initial path. This method can achieve satisfactory task while decrease the computation. The proposed method is used to align the micro peg and hole, and the simulation results show that the object can reach its desired position accurately without violation these constrains.

Citation Download Citation

Junping Wang, An Liu, and Hyungsuck Cho "Direct path planning in image plane and tracking for visual servoing", Proc. SPIE 6719, Optomechatronic Systems Control III, 671905 (8 October 2007); https://doi.org/10.1117/12.754580

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