Authors:
Tiantian Shen
1
and
Graziano Chesi
2
Affiliations:
1
College of Polytechnic and Hunan Normal University, China
;
2
University of Hong Kong, China
Keyword(s):
Elliptical Projection, 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
;
Optimization Algorithms
;
Planning and Scheduling
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Simulation and Modeling
;
Symbolic Systems
;
Vision, Recognition and Reconstruction
Abstract:
The problem of visual servoing to reach the desired location keeping elliptical projections in the camera field of view (FOV) while following a straight line is considered. The proposed approach is representing the whole path with seven polynomials of a path abscise: variables in polynomial coefficients for translational path being zero to represent a minimum path length and for rotational part being adjustable satisfying the FOV limit. The planned elliptical trajectories are tracked by an image-based visual servoing (IBVS) controller. The proposed strategy is verified by a simulational case with a circle and a superposed point, where a traditional IBVS controller directs the camera a detour to the ground, the proposed approach however keeps straight the camera trajectory and also the circle visible. In addition, a six degrees of freedom (6-DoF) articulated arm mounted with a pinhole camera is used to validate the proposed method by taking three Christmas balls as the target.