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.
Type de document :
Communication dans un congrès
Mediterranean Conf. on Intelligent Systems and Automation, CISA'08, 2008, Annaba, Algeria, France. 2008
Liste complète des métadonnées

https://hal.inria.fr/inria-00351871
Contributeur : Eric Marchand <>
Soumis le : lundi 12 janvier 2009 - 10:10:39
Dernière modification le : mercredi 11 avril 2018 - 01:56:36
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:25:20

Fichier

2008_cisa_marey.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • 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. 2008. 〈inria-00351871〉

Partager

Métriques

Consultations de la notice

210

Téléchargements de fichiers

94