Predictive Control for Constrained Image-Based Visual Servoing

• Published in: IEEE transactions on robotics Vol. 26; no. 5; pp. 933 - 939
• Main Authors: Allibert, G, Courtial, E, Chaumette, F
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.10.2010; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Artificial intelligence; Automatic; Cameras; Computer science; control theory; systems; Computer simulation; Control system synthesis; Control theory. Systems; Design optimization; Engineering Sciences; Exact sciences and technology; Materials handling; Mathematical model; Mathematical models; Matrix; Nonlinearity; Pattern recognition. Digital image processing. Computational geometry; Predictive control; Predictive models; Robotics; Robots; Trajectory; Visibility; Visual; Visual servoing; Visualization; Control synthesis; Visual servoing; Non linear programming; Output signal; Modeling; Robotics; Constrained optimization; Control constraint; Non linear model; Visibility; System with six degrees of freedom; Actuator; Predictive control; State constraint; Workspace
• DOI: 10.1109/TRO.2010.2056590
• ISSN: 1552-3098

This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formulated into state, output, and input constraints, respectively. Based on the predictive-control strategy, the IBVS task is written into a nonlinear optimization problem in the image plane, where the constraints can be easily and explicitly taken into account. Second, the contribution of the image prediction and influence of the prediction horizon are pointed out. The image prediction is obtained due to a model. The latter can be a local model based on the interaction matrix or a nonlinear global model based on 3-D data. Its choice is discussed with respect to the constraints to be handled. Finally, simulations that were obtained with a 6-degree-of-freedom (DOF) free-flying camera highlight the potential advantages of the proposed approach with respect to the image prediction and the constraint handling.