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Proceedings Paper

Direct path planning in image plane and tracking for visual servoing
Author(s): Junping Wang; An Liu; Hyungsuck Cho
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Paper 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.

Paper Details

Date Published: 8 October 2007
PDF: 8 pages
Proc. SPIE 6719, Optomechatronic Systems Control III, 671905 (8 October 2007); doi: 10.1117/12.754580
Show Author Affiliations
Junping Wang, Xi'an Jiaotong Univ. (China)
An Liu, Xi'an Satellite Control Ctr. (China)
Hyungsuck Cho, Korea Advanced Institute of Science and Technology (South Korea)

Published in SPIE Proceedings Vol. 6719:
Optomechatronic Systems Control III
Sergej Fatikow; Farrokh Janabi-Sharifi; Toshio Fukuda; Hyungsuck Cho; Heikki N. Koivo, Editor(s)

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