Applying visual servoing techniques to control a mobile hand-eye system

A Navigational Framework Combining Visual Servoing and Spiral Obstacle Avoidance Techniques

“…The goal is to make the current visual signals s converge to their reference values s * obtained at the desired (for the camera) pose. To perform this task, we apply the VS technique given in (Chaumette and Hutchinson, 2006) to mobile robots as in (Pissard-Gibollet and Rives, 1995). The proposed approach relies on the task function formalism (Samson et al, 1991) and consists in expressing the VS-task by the following task function to be regulated to zero:…”

Treating Image Loss by Using the Vision/Motion Link:

“…Two cases may occur: either the robot is holonomic and so is the camera motion; or the robot is not, and we suppose that the camera is able to move independently from it (Pissard-Gibollet & Rives, 1995). Fig.…”

“…To this aim, we have applied the visual servoing technique given in (Espiau et al, 1992) to mobile robots as in (Pissard-Gibollet & Rives, 1995). The proposed approach relies on the task function formalism (Samson et al, 1991) and consists in expressing the visual servoing task by the following task function to be regulated to zero:…”

Tasks sequencing for visual servoing

“…The task functions ¡ used in the remainder of the text are computed from the visual features [4]: are equal, and that they can be used indiscriminately to compute the projection operators in (12). In practice, the better choice for is ¢ ¦ § [4].…”

“…This paper deals with tasks sequencing [11], [12], [14], and describes a solution to stack elementary tasks one on top of the other until all degrees of freedom of the robot are constrained, and the desired position is reached. A vast number of trajectories are usually available to reach the goal.…”