Rigid body visual servoing using navigation functions
Copyright 2000 IEEE. Reprinted from Proceedings of the 39th IEEE Conference on Decision and Control, Volume 4, 2000, pages 3920-3926.
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Visual servo controllers in the literature rarely achieve provably large domains of attraction, and seldom address two important sensor limitations: (i) susceptibility to self-occlusions and (ii) finite field of view (FOV). We tackle the problem of global, occlusion-free visual servoing of a fully actuated rigid body by recourse to navigation functions on a compact manifold which encode these restrictions as control obstacles. For occlusion free rigid body servoing, the manifold of interest is the "visible" set of rigid body configurations, that is, those for which the feature points are within the field of view and unoccluded by the body. For a set of coplanar feature points on one face of a convex polyhedron, we show that a slightly conservative subset of the visible set has a simple topology amenable to analytical construction of a navigation function. We construct the controller via a closed form coordinate transformation from our problem domain into the topological model space and conclude with simulation results.
Noah J. Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek. "Rigid body visual servoing using navigation functions" Departmental Papers (ESE) (2000).
Available at: http://works.bepress.com/daniel_koditschek/109