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Article: Visual servoing path planning via homogeneous forms and LMI optimizations

TitleVisual servoing path planning via homogeneous forms and LMI optimizations
Authors
KeywordsHomogeneous Form
Linear Matrix Inequality (Lmi)
Path Planning
Point Correspondence
Visual Servoing
Issue Date2009
Citation
Ieee Transactions On Robotics, 2009, v. 25 n. 2, p. 281-291 How to Cite?
AbstractPath planning is a useful technique for visual servoing as it allows one to take into account system constraints and achieve desired performances during the camera motion. In this paper, we propose a new framework for path planning based on the use of homogeneous forms and linear matrix inequalities (LMIs). Specifically, we introduce a general parametrization of the trajectories from the initial to the desired location based on homogeneous forms and a parameter-dependent version of the Rodrigues formula. This allows us to impose typical constraints (field of view, workspace, joint, avoidance of collision, and occlusion) via positivity conditions on suitable homogeneous forms. Then, we reformulate the problem of finding a trajectory in the 3-D space satisfying all these constraints as an LMI optimization that can handle the maximization of typical performances (e.g., visibility margin, similarity to a straight line). The planned camera path is tracked by using an image-based controller. The proposed approach is illustrated and validated through simulations and experiments. © 2009 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/155526
ISSN
2015 Impact Factor: 2.028
2015 SCImago Journal Rankings: 2.884
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.date.accessioned2012-08-08T08:33:56Z-
dc.date.available2012-08-08T08:33:56Z-
dc.date.issued2009en_US
dc.identifier.citationIeee Transactions On Robotics, 2009, v. 25 n. 2, p. 281-291en_US
dc.identifier.issn1552-3098en_US
dc.identifier.urihttp://hdl.handle.net/10722/155526-
dc.description.abstractPath planning is a useful technique for visual servoing as it allows one to take into account system constraints and achieve desired performances during the camera motion. In this paper, we propose a new framework for path planning based on the use of homogeneous forms and linear matrix inequalities (LMIs). Specifically, we introduce a general parametrization of the trajectories from the initial to the desired location based on homogeneous forms and a parameter-dependent version of the Rodrigues formula. This allows us to impose typical constraints (field of view, workspace, joint, avoidance of collision, and occlusion) via positivity conditions on suitable homogeneous forms. Then, we reformulate the problem of finding a trajectory in the 3-D space satisfying all these constraints as an LMI optimization that can handle the maximization of typical performances (e.g., visibility margin, similarity to a straight line). The planned camera path is tracked by using an image-based controller. The proposed approach is illustrated and validated through simulations and experiments. © 2009 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Roboticsen_US
dc.rights©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectHomogeneous Formen_US
dc.subjectLinear Matrix Inequality (Lmi)en_US
dc.subjectPath Planningen_US
dc.subjectPoint Correspondenceen_US
dc.subjectVisual Servoingen_US
dc.titleVisual servoing path planning via homogeneous forms and LMI optimizationsen_US
dc.typeArticleen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1109/TRO.2009.2014131en_US
dc.identifier.scopuseid_2-s2.0-67349259078en_US
dc.identifier.hkuros156192-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-67349259078&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume25en_US
dc.identifier.issue2en_US
dc.identifier.spage281en_US
dc.identifier.epage291en_US
dc.identifier.isiWOS:000265372800006-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.citeulike9667010-

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