1. Visual servoing: a global path-planning approach
G. Chesi and Y.S. Hung Department of Electrical and Electronic Engineering
University of Hong Kong
Problem: optimal and constrained eye-in-hand visual servoing for 6 dof robot manipulators
Solution: image path-planning via robust object reconstruction and global trajectory parameterization
Advantages: several constraints and costs can be considered through polynomial optimizations
Example: obstacle avoidance while minimizing the curvature of the trajectory