Control Barrier Function Based Visual Servoing for Underwater Vehicle Manipulator Systems under Operational Constraints.
Shahab Heshmati-AlamdariGeorge C. KarrasMaryam SharifiGeorge K. FourlasPublished in: MED (2023)
Keyphrases
- visual servoing
- underwater vehicles
- vision system
- robotic arm
- end effector
- robotic manipulator
- image based visual servoing
- mobile robot
- trajectory tracking
- robot control
- image space
- control strategies
- computer simulation
- control method
- camera motion
- control system
- artificial intelligence
- control law
- multi objective
- mathematical models
- real time
- degrees of freedom
- multi modal
- master slave
- visual feedback
- computer vision
- learning algorithm