Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach

Abstract

This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with eye-in-hand configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. Furthermore, simulation results are assessed with respect to the stability and the performance.

Visual servoing using model predictive control to assist multiple trajectory tracking

“…A measurement allows obtaining either the camera model coordinates c m or one robot model coordinates r im . Thus, using (9), (10), and (11), we can write:…”

“…We set bounds on these drifts, and ensure that they will not be exceeded thanks to new camera measurements, using a Model Predictive Control scheme. This control strategy has been already used for visual servoing handling constraints for different applications in [10]- [15].…”

Predictive Control for Constrained Image-Based Visual Servoing

“…The existing works in predictive control generally deal with 3-D visual servoing. In [19], the stabilization of a robot arm is treated with a predictive approach in 3-D and without constraint handling. The predictive controller is used in [13] and [14] for motion compensation in target tracking, in addition to a classical IBVS controller.…”

Active Tracking System with Rapid Eye Movement Involving Simultaneous Top-down and Bottom-up Attention Control

“…Active vision system with tracking functionality has been studied extensively in the literature. A number of methods on object tracking with camera motion have been proposed (Hunt & Sanderson, 1982;Aloimonos et al, 1987;Burt et al, 1989;Birchfield, 1997;Birchfield & Rangarajan, 2005;Blake & Yuille, 1992;Murray & Basu, 1994;Bradshaw et al, 1994;Castrillón-Santana et al, 1998;Comaniciu et al, 2000;Murao et al, 2006;Yang et al, 2006), however, only a few works addressed co-realization of saccadic, quick eye-movement and smooth pursuit in an active vision head with pan/tilt operation. A notable exemplary work is coarse and fine resolutions for saccadic and smooth pursuit (Bradshaw et al, 1994).…”