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Conference Paper: Visual servoing: A global path-planning approach

TitleVisual servoing: A global path-planning approach
Authors
KeywordsConstraints
Costs
Path-planning
Teaching-by-showing approach
Visual servoing
Issue Date2007
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2007, p. 2086-2091 How to Cite?
AbstractThis paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new path-planning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through a particular extension of the Euler parameters in order to obtain an equivalent expression of the rotation matrix as a quadratic function of unconstrained variables, hence largely simplified with respect to standard parameterizations which involve transcendental functions. Then, polynomials of arbitrary degree are used to complete the parametrization and formulate a general optimization where a number of constraints and costs can be considered. The optimal trajectory is followed by tracking the image trajectories with standard IBVS controllers. © 2007 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/98978
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2010-09-25T18:10:36Z-
dc.date.available2010-09-25T18:10:36Z-
dc.date.issued2007en_HK
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2007, p. 2086-2091en_HK
dc.identifier.issn1050-4729en_HK
dc.identifier.urihttp://hdl.handle.net/10722/98978-
dc.description.abstractThis paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new path-planning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through a particular extension of the Euler parameters in order to obtain an equivalent expression of the rotation matrix as a quadratic function of unconstrained variables, hence largely simplified with respect to standard parameterizations which involve transcendental functions. Then, polynomials of arbitrary degree are used to complete the parametrization and formulate a general optimization where a number of constraints and costs can be considered. The optimal trajectory is followed by tracking the image trajectories with standard IBVS controllers. © 2007 IEEE.en_HK
dc.languageengen_HK
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_HK
dc.subjectConstraintsen_HK
dc.subjectCostsen_HK
dc.subjectPath-planningen_HK
dc.subjectTeaching-by-showing approachen_HK
dc.subjectVisual servoingen_HK
dc.titleVisual servoing: A global path-planning approachen_HK
dc.typeConference_Paperen_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.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2007.363629en_HK
dc.identifier.scopuseid_2-s2.0-36348945185en_HK
dc.identifier.hkuros130742en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-36348945185&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.spage2086en_HK
dc.identifier.epage2091en_HK
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK

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