Tracking a Moving Target with Model Independent Visual Servoing: a Predictive Estimation Approach

Target tracking by model independent visual servo control is achieved by augmenting quasi-Newton trust region control with target prediction. Model independent visual servo control is defined as using visual feedback to control the robot without precise kinematic and camera models. While a majority of the research assumes a known robot and camera model, there is a paucity of literature addressing model independent control. In addition, that research has focused primarily on static targets. The work presented here demonstrates the use of predictive filters to improve performance of the control algorithm for linear and circular target motions. The results show a performance of the same order of magnitude as compared to some model based visual servo control research. Certain limitations to the algorithm are also discussed.