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Visual Servoing Path-Planning with Elliptical Projections

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 430))

Abstract

This paper proposes a path planning approach for visual servoing with elliptical projections. 3D primitives like circles and spheres may project onto image plane of a perspective camera as ellipsoids. From these elliptical projections, moment-based features are constructed. Constraints required by the usage of moment-based features will include camera field of view (FOV) limits and occlusion avoidance of all the observed 3D primitives, a straight or an obstacle dodging path, global convergence and etc. We propose to parametrize these constraints into polynomial inequalities in a common path abscise. They share common variables in polynomial coefficients and these variables will be reassigned via a multidimensional nonlinear minimization process until a satisfactory path is obtained. Such a planned path is interpolated into several segments, at the ends of which elliptical projections are tracked by an image-based visual servoing controller. Two synthetic scenarios demonstrate excellent performance of the path-planning algorithm and tracking scheme.

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Acknowledgements

This work is supported by Hunan Provincial Natural Science Foundation of China (Grant No. 2017JJ3211).

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Authors and Affiliations

  1. Department of Electronic Information Engineering, College of Polytechnic, Hunan Normal University, Changsha, China

    Tiantian Shen

  2. Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam, Hong Kong

    Graziano Chesi

Authors
  1. Tiantian Shen
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  2. Graziano Chesi
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Correspondence to Tiantian Shen .

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Editors and Affiliations

  1. Images, Signals, and Intelligent Systems Laboratory, University Paris-EST Créteil (UPEC), Créteil, France

    Kurosh Madani

  2. MAC Team, LAAS-CNRS, Toulouse Cedex 4, France

    Dimitri Peaucelle

  3. Ford Research and Advanced Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

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Shen, T., Chesi, G. (2018). Visual Servoing Path-Planning with Elliptical Projections. In: Madani, K., Peaucelle, D., Gusikhin, O. (eds) Informatics in Control, Automation and Robotics . Lecture Notes in Electrical Engineering, vol 430. Springer, Cham. https://doi.org/10.1007/978-3-319-55011-4_2

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  • DOI: https://doi.org/10.1007/978-3-319-55011-4_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-55010-7

  • Online ISBN: 978-3-319-55011-4

  • eBook Packages: EngineeringEngineering (R0)

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