traight Line Path-Planning in Visual ervoing
نویسنده
چکیده
his paper deals with visual servoing for 6-degree-of-freedom root manipulators, and considers the problem of establishing hether and how it is possible to reach the desired location while eeping all features in the field of view and following a straight ine in the Euclidean space. A path-planning technique based on a arametrization of the camera path through polynomials is proosed, which overcomes existing methods dealing with this probem. The generated image trajectory can be tracked by using an mage-based visual servoing controller. DOI: 10.1115/1.2745882
منابع مشابه
Near-Minimum-Time Motion Planning of Manipulators along Specified Path
The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
متن کاملStudy of Double-Weighted Graph Model and Optimal Path Planning for Tourist Scenic Area Oriented Intelligent Tour Guide
When tourists visiting multiple tourist scenic spots, the travel line is usually the most effective road network according to the actual tour process, and maybe the travel line is different from planned travel line. For in the field of navigation, a proposed travel line is normally generated automatically by path planning algorithm, considering the scenic spots’ positions and road networks. But...
متن کاملMobile robot path planning and stabilizing using static CCD camera
The paper presents investigations concerning an important problem of mobile robot control using visual feedback. Two main topics are considered: a collision-free path planning and posture tracking on the basis of pictures obtained from static monochromatic camera. A collision-free path is determined off-line in multiprocessor system using the artificial potential field method. Parallel algorith...
متن کاملSelf-calibrated visual servoing with respect to axial-symmetric 3D objects
A self-calibrated approach to visual servoing with respect to non planar targets modeled through a pair of coaxial circles plus one point is discussed. Full calibration data (fixed internal parameters) are obtained from two views, and used to recover Euclidean target structure and camera relative pose. Pose disambiguation is achieved without requiring any real third view of the target. The appr...
متن کاملA Path Planning Algorithm to Enable Well-Clear Low Altitude UAS Operation Beyond Visual Line of Sight
The availability of reliable and efficient algorithms to avoid obstacles, geofences, and other traffic is an essential functionality for safe autonomous operation of Unmanned Aircraft Systems (UAS) in low altitude airspace beyond visual line of sight. This paper presents a path planning algorithm that enables UAS to fly specified missions while accommodating real time traffic and geofence const...
متن کامل