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Visual servoing via Nonlinear Predictive control

Guillaume Allibert 1 Estelle Courtial 2 F. Chaumette 3 
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual pre- dictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image prediction over a finite prediction horizon plays a crucial role for large displacements. This image prediction is obtained thanks to a model. The choice of this model is discussed. A nonlinear global model and a local model based on the interaction matrix are considered. Advantages and drawbacks of both models are pointed out. Finally, simulations obtained with a 6 degrees of freedom (DOF) free-flying camera highlight the capabilities and the efficiency of the pro- posed approach by a comparison with the classical image-based visual servoing.
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Guillaume Allibert, Estelle Courtial, F. Chaumette. Visual servoing via Nonlinear Predictive control. Chesi, G. and Hashimoto, K. Visual Servoing via Advanced Numerical Methods, LNCIS 401, Springer-Verlag, pp.375--394, 2010. ⟨inria-00548935⟩

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