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Authors: Tiantian Shen and Graziano Chesi

Affiliation: University of Hong Kong, Hong Kong

ISBN: 978-989-8565-21-1

Keyword(s): Sphere, Path-planning, Visual Servoing.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Engineering Applications ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Simulation and Modeling ; Symbolic Systems

Abstract: This paper proposes a path-planning approach for visual servoing in the case where the observed object features are points and spheres. Two main situations are considered. In the first situation, it is supposed that at least two points and at least a sphere are observed. In the second situation, it is supposed that at least three spheres are observed. The problem consists of planning a trajectory in order to ensure the convergence of the robot end-point to the desired location while satisfying visibility and workspace constraints, in particular including occlusion and collision avoidance. A solution based on polynomial parametrizations is proposed in order to determine a feasible path in the 3D space, and such a path is then followed by tracking its image projection through image-based visual servoing. Some simulation results illustrate the proposed approach.

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Paper citation in several formats:
Shen, T. and Chesi, G. (2012). Visual Servoing Path-planning with Spheres.In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 22-30. DOI: 10.5220/0003998000220030

@conference{icinco12,
author={Tiantian Shen. and Graziano Chesi.},
title={Visual Servoing Path-planning with Spheres},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={22-30},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003998000220030},
isbn={978-989-8565-21-1},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Visual Servoing Path-planning with Spheres
SN - 978-989-8565-21-1
AU - Shen, T.
AU - Chesi, G.
PY - 2012
SP - 22
EP - 30
DO - 10.5220/0003998000220030

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