Predictive Control for Constrained Image-Based Visual Servoing

摘要

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.