Homography-Based Predictive Control for Visual Servoing

摘要

In this paper, a homography-based predictive control strategy is presented for the visual servoing problem. Visual servoing play an important role in robot research domain. Nowadays, advanced control laws like Model Predictive Control have been used to solve the visual servoing problems. The extention of MPC into visual servoing has many advantagies. But most of these methods depend on the depth information and pricise intrinsic parameters of camera. In order to avoid the measurement of 3D structure, we thought the homography-based predictive control approach for visual servoing.