Skip to Main content Skip to Navigation
Conference papers

A behavior-based visual servoing control law

M. Marey 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this paper, we analyze and compare four image-based visual servoing control laws. Three of them are classical while a new one is proposed. This new control law is based on a behavior controller to adjust the movement of the camera. It can also be used to switch between the classical methods. An analytical study of all control schemes when translational motion along and rotational motion around the optical axis is also presented. Finally, simulation and experimental results show that the new control law with a behavior controller has a wider range of success than the other control schemes and can be used to avoid local minima and singularities.
Document type :
Conference papers
Complete list of metadata

https://hal.inria.fr/inria-00351871
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 10:10:39 AM
Last modification on : Friday, July 10, 2020 - 4:09:14 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:25:20 PM

File

2008_cisa_marey.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00351871, version 1

Citation

M. Marey, François Chaumette. A behavior-based visual servoing control law. Mediterranean Conf. on Intelligent Systems and Automation, CISA'08, 2008, Annaba, Algeria, France. ⟨inria-00351871⟩

Share

Metrics

Record views

281

Files downloads

232