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Authors: Tiantian Shen 1 and Graziano Chesi 2

Affiliations: 1 College of Polytechnic and Hunan Normal University, China ; 2 University of Hong Kong, China

ISBN: 978-989-758-198-4

Keyword(s): Elliptical Projection, Path Planning, Visual Servoing.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Engineering Applications ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Planning and Scheduling ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Simulation and Modeling ; Symbolic Systems ; Vision, Recognition and Reconstruction

Abstract: The problem of visual servoing to reach the desired location keeping elliptical projections in the camera field of view (FOV) while following a straight line is considered. The proposed approach is representing the whole path with seven polynomials of a path abscise: variables in polynomial coefficients for translational path being zero to represent a minimum path length and for rotational part being adjustable satisfying the FOV limit. The planned elliptical trajectories are tracked by an image-based visual servoing (IBVS) controller. The proposed strategy is verified by a simulational case with a circle and a superposed point, where a traditional IBVS controller directs the camera a detour to the ground, the proposed approach however keeps straight the camera trajectory and also the circle visible. In addition, a six degrees of freedom (6-DoF) articulated arm mounted with a pinhole camera is used to validate the proposed method by taking three Christmas balls as the target.

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Paper citation in several formats:
Shen, T. and Chesi, G. (2016). Following a Straight Line in Visual Servoing with Elliptical Projections.In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 47-56. DOI: 10.5220/0005960400470056

@conference{icinco16,
author={Tiantian Shen. and Graziano Chesi.},
title={Following a Straight Line in Visual Servoing with Elliptical Projections},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={47-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005960400470056},
isbn={978-989-758-198-4},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Following a Straight Line in Visual Servoing with Elliptical Projections
SN - 978-989-758-198-4
AU - Shen, T.
AU - Chesi, G.
PY - 2016
SP - 47
EP - 56
DO - 10.5220/0005960400470056

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