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A Variational Approach to Trajectory Planning in Visual Servoing

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Visual Servoing via Advanced Numerical Methods

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 401))

Abstract

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

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Author information

Authors and Affiliations

  1. LASMEA, University Blaise Pascal, Campus des Cezeaux, 63177, Aubiere, France

    Youcef Mezouar

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  1. Youcef Mezouar
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Editor information

Editors and Affiliations

  1. Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong, China, People’s Republic

    Graziano Chesi

  2. Dept. System Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, 980-8579, Sendai, Aoba-ku, Japan

    Koichi Hashimoto

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Mezouar, Y. (2010). A Variational Approach to Trajectory Planning in Visual Servoing. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_7

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  • DOI: https://doi.org/10.1007/978-1-84996-089-2_7

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84996-088-5

  • Online ISBN: 978-1-84996-089-2

  • eBook Packages: EngineeringEngineering (R0)

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