Optimal Motion Planning in the Image Plane for Mobile Robots

This paper presents a novel approach to image-based visual servoing by making motion plans directly in the image plane. By skipping the step of transferring image features back to robot pose, we are able to utilize the image features for a direct and fast motion planning solution. Standard visual servoing techniques can then be applied to track the given trajectory. In this paper , we have applied the idea to 2-D cart-like and car-like mobile robot systems, and then extended it to perform 3-D (kinematic) motion planning. Within this motion planning paradigm, we also discuss the mechanisms for taking advantage of surplus features and incorporating image-based constraints, such as requiring that the images remain in the eld of view.