Straight Line Path-Planning in Visual Servoing

2007 ◽  
Vol 129 (4) ◽  
pp. 541-543 ◽  
Author(s):  
Graziano Chesi ◽  
Domenico Prattichizzo ◽  
Antonio Vicino
Keyword(s):  
Euclidean Space ◽  
Path Planning ◽  
Visual Servoing ◽  
Robot Manipulators ◽  
Degree Of Freedom ◽  
Field Of View ◽  
Straight Line ◽  
Planning Technique ◽  
Line Path

This paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing controller.

scholarly journals Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

Axioms ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 58 ◽  
Author(s):  
Mahmut Dirik ◽  
Oscar Castillo ◽  
Adnan Fatih Kocamaz
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Mobile Robot ◽  
Free Path ◽  
Visual Servoing ◽  
Dynamic Environment ◽  
Logic Control ◽  
Planning Technique ◽  
Interval Type

Mobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.

scholarly journals Energy optimization path planning for battery-powered agricultural rover

2018 ◽  
Vol 173 ◽  
pp. 02001
Author(s):  
Cong Niu ◽  
Xiutian Yan
Keyword(s):  
Path Planning ◽  
Energy Optimization ◽  
Battery Life ◽  
Simulation Studies ◽  
Straight Line ◽  
Planning Algorithm ◽  
Save Energy ◽  
Line Path ◽  
Path Planning Algorithm ◽  
Moving Path

Battery life is critical for battery-powered agricultural rovers, so techniques such as optimized moving path planning are of great significance in this field. Finding an optimized path other than straight-line path could save energy and prolong the battery life. Compared with traditional straight-line path planning, an energy-optimized path planning is realized based on artificial potential field algorithm. In simulation studies, most of the uphill is avoided and at least 10.15 % of energy is saved with the optimized path planning. We believe this energy optimization path planning algorithm is a feasible solution to extend the battery life for field operated agricultural rover.

Reactive approach to on-line path planning for robot manipulators in dynamic environments

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 375-384
Author(s):  
Margarita Mediavilla ◽  
José Luis González ◽  
Juan Carlos Fraile ◽  
José Ramón Perán
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Local Algorithms ◽  
Planning Stage ◽  
New Approach ◽  
On Line ◽  
Line Path

This paper describes a new approach to path planning of robot manipulators with many degrees of freedom. It is designed for on-line motion in dynamic and unpredictable environments. The robots react to moving obstacles using a local and reactive algorithm restricted to a subset of its configuration space. The lack of a long-term view of local algorithms (local minima problems) is solved using an off-line pre-planning stage that chooses the subset of the configuration space that minimises the probability of not finding collision free paths. The approach is implemented and tested on a system of three Scorbot-er IX five link robots.

scholarly journals Path planning for visual servoing with search algorithm

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775026
Author(s):  
Ting-Ting Wang ◽  
Xue Han ◽  
Jun Zhou ◽  
Hua Chen
Keyword(s):  
Path Planning ◽  
Visual Servoing ◽  
Search Algorithm ◽  
Random Trees ◽  
Planning Method ◽  
Field Of View ◽  
Feature Points ◽  
Target Feature ◽  
Feature Trajectory ◽  
Rapidly Exploring Random Trees

To solve the visual servoing tasks in complex environment, a path planning method based on improved rapidly exploring random trees algorithm is proposed. First, the improved rapidly exploring random trees planning method is adopted, which keeps the observed feature points in the field of view. The start node and the desired node are initialized as roots of multi-trees which grow harmoniously to plan path of the robot. Then, the planned path is used to project the three-dimensional target feature points into the image space and obtain the feature trajectory for the image-based visual servoing controller. Finally, the feature trajectory is tracked by the image-based visual servoing controller. The proposed visual servoing design method takes field of view constraints, camera retreat problem, and obstacle avoidance into consideration, which can significantly improve the ability of the robotic manipulator, especially in the narrow space. Simulation and experiment on 6-degree-of-freedom robot are conducted. The results present the effectiveness of the proposed algorithm.

Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

2021 ◽  
pp. 1-30
Author(s):  
A. Guo ◽  
Z. Zhou ◽  
R. Wang ◽  
X. Zhao ◽  
X. Zhu
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Endurance Performance ◽  
Electrical Energy ◽  
Lateral Control ◽  
Special Configuration ◽  
Straight Line ◽  
Lateral Distance ◽  
Solar Powered ◽  
Line Path

Abstract The full-wing solar-powered UAV has a large aspect ratio, special configuration, and excellent aerodynamic performance. This UAV converts solar energy into electrical energy for level flight and storage to improve endurance performance. The UAV only uses a differential throttle for lateral control, and the insufficient control capability during crosswind landing results in a large lateral distance bias and leads to multiple landing failures. This paper analyzes 11 landing failures and finds that a large lateral distance bias at the beginning of the approach and the coupling of base and differential throttle control is the main reason for multiple landing failures. To improve the landing performance, a heading angle-based vector field (VF) method is applied to the straight-line and orbit paths following and two novel 3D Dubins landing paths are proposed to reduce the initial lateral control bias. The results show that the straight-line path simulation exhibits similar phenomenon with the practical failure; the single helical path has the highest lateral control accuracy; the left-arc to left-arc (L-L) path avoids the saturation of the differential throttle; and both paths effectively improve the probability of successful landing.

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