Path Planning in Image Space for Robust Visual Servoing

Vision feedback control loop techniques are efficient for a great class of applications but they come up against difficulties when the initial and desired positions of the camera are distant. In this paper we propose a new approach to resolve these difficulties by planning trajectories in the image. Constraints such that the object remains in the camera field of view can thus be taken into account. Furthermore, using this process, current measurement always remain close to their desired value and a control by Imagebased Servoing ensures the robustness with respect to modeling errors. We apply our method when object dimension are known or not and/or when the calibration parameters of the camera are well or badly estimated. Finally, real time experimental results using a camera mounted on the end effector of a six d-o-f robot are presented.