Image-based visual servoing dealing with constraints

摘要

This paper proposes a new approach to achieve real-time robotic control using image-based visual servoing in the presence of constraints. The proposed method deals with visibility constraints and occultation avoidance using potential fields. Our approach aims to improve the real-time performance of the visual servoing scheme. In fact, the proposed technique is more efficient in terms of computation time and doesn't require neither trajectory planning nor pose estimation step. Experimental results are presented to validate our approach and to demonstrate its efficiency.