Paper Info
Title
Potential Problems And Switching Control For Visual Servoing
Abstract
This paper proposes a potential switching scheme that enlarges stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme.
Year
DOI
Venue
2000
10.1109/IROS.2000.894641
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS
Keywords
Field
DocType
motion control,feature extraction,affine transformation,robot kinematics,visual servoing,robot control,mobile robots,visualization,feedback loop,image features,stability
Affine transformation,Computer vision,Robot control,Feature (computer vision),Computer science,Robot kinematics,Control engineering,Feature extraction,Artificial intelligence,Visual servoing,Relay,Mobile robot
Conference
Citations 
PageRank 
References 
5
1.28
5
Authors
2
Name
Order
Citations
PageRank
Koichi Hashimoto134858.26
Toshiro Noritsugu29229.49