Global Path-Planning for Constrained and Optimal Visual Servoing

@article{Chesi2007GlobalPF,
  title={Global Path-Planning for Constrained and Optimal Visual Servoing},
  author={Graziano Chesi and Yeung Sam Hung},
  journal={IEEE Transactions on Robotics},
  year={2007},
  volume={23},
  pages={1050-1060}
}
Visual servoing consists of steering a robot from an initial to a desired location by exploiting the information provided by visual sensors. This paper deals with the problem of realizing visual servoing for robot manipulators taking into account constraints such as visibility, workspace (that is obstacle avoidance), and joint constraints, while minimizing a cost function such as spanned image area, trajectory length, and curvature. To solve this problem, a new path-planning scheme is proposed… CONTINUE READING
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