A switching control law for keeping features in the field of view in eye-in-hand visual servoing.
Graziano ChesiKoichi HashimotoDomenico PrattichizzoAntonio VicinoPublished in: ICRA (2003)
Keyphrases
- visual servoing
- control law
- field of view
- closed loop
- vision system
- control system
- image based visual servoing
- mobile robot
- control algorithm
- robot control
- dynamical systems
- control strategy
- feature extraction
- control scheme
- image space
- motion planning
- autonomous robots
- feature space
- high resolution
- end effector
- camera motion
- feature vectors
- control parameters
- single image
- video sequences
- principal component analysis