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Article: Conferring robustness to path-planning for image-based control

TitleConferring robustness to path-planning for image-based control
Authors
KeywordsEye-In-Hand
Path-Planning
Robustness
Uncertainty
Visual Servoing
Issue Date2012
Citation
IEEE Transactions on Control Systems Technology, 2012, v. 20 n. 4, p. 950-959 How to Cite?
AbstractPath-planning has been proposed in visual servoing for reaching the desired location while fulfilling various constraints. Unfortunately, the real trajectory can be significantly different from the reference trajectory due to the presence of uncertainties on the model used, with the consequence that some constraints may not be fulfilled hence leading to a failure of the visual servoing task. This paper proposes a new strategy for addressing this problem, where the idea consists of conferring robustness to the path-planning scheme by considering families of admissible models. In order to obtain these families, uncertainty in the form of random variables is introduced on the available image points and intrinsic parameters. Two families are considered, one by generating a given number of admissible models corresponding to extreme values of the uncertainty, and one by estimating the extreme values of the components of the admissible models. Each model of these families identifies a reference trajectory, which is parametrized by design variables that are common to all the models. The design variables are hence determined by imposing that all the reference trajectories fulfill the required constraints. Discussions on the convergence and robustness of the proposed strategy are provided, in particular showing that the satisfaction of the visibility and workspace constraints for the second family ensures the satisfaction of these constraints for all models bounded by this family. The proposed strategy is illustrated through simulations and experiments. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/155764
ISSN
2015 Impact Factor: 2.818
2015 SCImago Journal Rankings: 2.986
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorShen, Ten_US
dc.date.accessioned2012-08-08T08:35:14Z-
dc.date.available2012-08-08T08:35:14Z-
dc.date.issued2012en_US
dc.identifier.citationIEEE Transactions on Control Systems Technology, 2012, v. 20 n. 4, p. 950-959en_US
dc.identifier.issn1063-6536en_US
dc.identifier.urihttp://hdl.handle.net/10722/155764-
dc.description.abstractPath-planning has been proposed in visual servoing for reaching the desired location while fulfilling various constraints. Unfortunately, the real trajectory can be significantly different from the reference trajectory due to the presence of uncertainties on the model used, with the consequence that some constraints may not be fulfilled hence leading to a failure of the visual servoing task. This paper proposes a new strategy for addressing this problem, where the idea consists of conferring robustness to the path-planning scheme by considering families of admissible models. In order to obtain these families, uncertainty in the form of random variables is introduced on the available image points and intrinsic parameters. Two families are considered, one by generating a given number of admissible models corresponding to extreme values of the uncertainty, and one by estimating the extreme values of the components of the admissible models. Each model of these families identifies a reference trajectory, which is parametrized by design variables that are common to all the models. The design variables are hence determined by imposing that all the reference trajectories fulfill the required constraints. Discussions on the convergence and robustness of the proposed strategy are provided, in particular showing that the satisfaction of the visibility and workspace constraints for the second family ensures the satisfaction of these constraints for all models bounded by this family. The proposed strategy is illustrated through simulations and experiments. © 2011 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Control Systems Technologyen_US
dc.rights©2012 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.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectEye-In-Handen_US
dc.subjectPath-Planningen_US
dc.subjectRobustnessen_US
dc.subjectUncertaintyen_US
dc.subjectVisual Servoingen_US
dc.titleConferring robustness to path-planning for image-based controlen_US
dc.typeArticleen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturepublished_or_final_versionen_US
dc.identifier.doi10.1109/TCST.2011.2157346en_US
dc.identifier.scopuseid_2-s2.0-84861755096en_US
dc.identifier.hkuros216364-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-84861755096&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume20en_US
dc.identifier.issue4en_US
dc.identifier.spage950en_US
dc.identifier.epage959en_US
dc.identifier.isiWOS:000305981000007-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridShen, T=41262374600en_US
dc.identifier.citeulike9667021-

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