Planning Image Trajectories for Visual Servoing via LMI-Based Optimization

摘要

Path-planning is a key technique in visual servoing, as it allows one to take into account various constraints and optimize a desired performance. This paper addresses the problem of planning image trajectories to be followed by using an image-based visual servoing controller. The proposed technique consists of parametrizing the camera trajectory in the 3D space via polynomials, and by imposing constraints satisfaction and performance optimization via the square matrix representation (SMR) and linear matrix inequalities (LMIs). Examples in the absence and in the presence of uncertainties illustrate and validate the proposed methodology.