Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension

作者：Chen J^*; Dawson DM; Dixon WE; Behal A

来源：IEEE Transactions on Control Systems Technology, 2005, 13(5): 814-825.

DOI：10.1109/TCST.2005.852150

• adaptive control
• control applications
• Lyapunov-methods
• visual servo control.

In this brief, a homography-based adaptive visual servo controller is developed to enable a robot end-effector to track a desired Euclidean trajectory as determined by a sequence of images for both the camera-in-hand and fixed-camera configurations. To achieve the objectives, a Lyapunov-based adaptive control strategy is employed to actively compensate for the lack of unknown depth measurements and the lack of an object model. The error systems are constructed as a hybrid of pixel information and reconstructed Euclidean variables obtained by comparing the images and decomposing a homographic relationship. Simulation results are provided to demonstrate the performance of the developed controller for the fixed camera configuration.

• 出版日期2005-9