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Author: Graziano Chesi

Affiliation: University of Hong Kong, China

ISBN: 978-989-674-000-9

Keyword(s): Robot control, Visual feedback, Trajectory planning, LMI.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Closed-loop robot control based on visual feedback is an important research area, with useful applications in various fields. Planning the trajectory to be followed by the robot allows one to take into account multiple constraints during the motion, such as limited field of view of the camera and limited workspace of the robot. This paper proposes a strategy for path-planning from an estimate of the point correspondences between the initial view and the desired one, and an estimate of the camera intrinsic parameters. This strategy consists of generating a parametrization of the trajectories connecting the initial location to the desired one via polynomials. The trajectory constraints are then imposed by using suitable relaxations and LMIs (linear matrix inequalities). Some examples illustrate the proposed approach.

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Paper citation in several formats:
Chesi G. and (2009). LMI-BASED TRAJECTORY PLANNING FOR CLOSED-LOOP CONTROL OF ROBOTIC SYSTEMS WITH VISUAL FEEDBACK.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 13-20. DOI: 10.5220/0002172200130020

@conference{icinco09,
author={Graziano Chesi},
title={LMI-BASED TRAJECTORY PLANNING FOR CLOSED-LOOP CONTROL OF ROBOTIC SYSTEMS WITH VISUAL FEEDBACK},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={13-20},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002172200130020},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - LMI-BASED TRAJECTORY PLANNING FOR CLOSED-LOOP CONTROL OF ROBOTIC SYSTEMS WITH VISUAL FEEDBACK
SN - 978-989-674-000-9
AU - Chesi, G.
PY - 2009
SP - 13
EP - 20
DO - 10.5220/0002172200130020

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