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Article: Global path-planning for constrained and optimal visual servoing

TitleGlobal path-planning for constrained and optimal visual servoing
Authors
KeywordsPath-planning
Robot manipulator
Trajectory constraints
Trajectory costs
Visual servoing
Issue Date2007
PublisherIEEE.
Citation
Ieee Transactions On Robotics, 2007, v. 23 n. 5, p. 1050-1060 How to Cite?
AbstractVisual servoing consists of steering a robot from an initial to a desired location by exploiting the information provided by visual sensors. This paper deals with the problem of realizing visual servoing for robot manipulators taking into account constraints such as visibility, workspace (that is obstacle avoidance), and joint constraints, while minimizing a cost function such as spanned image area, trajectory length, and curvature. To solve this problem, a new path-planning scheme is proposed. First, a robust object reconstruction is computed from visual measurements which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through an extension of the Euler parameters that yields an equivalent expression of the rotation matrix as a quadratic function of unconstrained variables, hence, largely simplifying standard parameterizations which involve transcendental functions. Then, polynomials of arbitrary degree are used to complete the parametrization and formulate the desired constraints and costs as a general optimization problem. The optimal trajectory is followed by tracking the image trajectory with an IBVS controller combined with repulsive potential fields in order to fulfill the constraints in real conditions. © 2007 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/57470
ISSN
2015 Impact Factor: 2.028
2015 SCImago Journal Rankings: 2.884
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2010-04-12T01:37:29Z-
dc.date.available2010-04-12T01:37:29Z-
dc.date.issued2007en_HK
dc.identifier.citationIeee Transactions On Robotics, 2007, v. 23 n. 5, p. 1050-1060en_HK
dc.identifier.issn1552-3098en_HK
dc.identifier.urihttp://hdl.handle.net/10722/57470-
dc.description.abstractVisual servoing consists of steering a robot from an initial to a desired location by exploiting the information provided by visual sensors. This paper deals with the problem of realizing visual servoing for robot manipulators taking into account constraints such as visibility, workspace (that is obstacle avoidance), and joint constraints, while minimizing a cost function such as spanned image area, trajectory length, and curvature. To solve this problem, a new path-planning scheme is proposed. First, a robust object reconstruction is computed from visual measurements which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through an extension of the Euler parameters that yields an equivalent expression of the rotation matrix as a quadratic function of unconstrained variables, hence, largely simplifying standard parameterizations which involve transcendental functions. Then, polynomials of arbitrary degree are used to complete the parametrization and formulate the desired constraints and costs as a general optimization problem. The optimal trajectory is followed by tracking the image trajectory with an IBVS controller combined with repulsive potential fields in order to fulfill the constraints in real conditions. © 2007 IEEE.en_HK
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofIEEE Transactions on Roboticsen_HK
dc.rights©2007 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.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectPath-planningen_HK
dc.subjectRobot manipulatoren_HK
dc.subjectTrajectory constraintsen_HK
dc.subjectTrajectory costsen_HK
dc.subjectVisual servoingen_HK
dc.titleGlobal path-planning for constrained and optimal visual servoingen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1552-3098&volume=23&issue=5&spage=1050&epage=1060&date=2007&atitle=Global+path-planning+for+constrained+and+optimal+visual+servoingen_HK
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.emailHung, YS:yshung@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.identifier.authorityHung, YS=rp00220en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/TRO.2007.903817en_HK
dc.identifier.scopuseid_2-s2.0-35348850161en_HK
dc.identifier.hkuros139169-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-35348850161&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume23en_HK
dc.identifier.issue5en_HK
dc.identifier.spage1050en_HK
dc.identifier.epage1060en_HK
dc.identifier.isiWOS:000250177900021-
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK

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