Optimal motion planning in the image plane for mobile robots

摘要

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 tract the given trajectory. In this paper, we have applied the idea to 2D and 3D (kinematic) motion planning and discussed the mechanisms for taking advantage of surplus features and incorporating other image-based constraints, such as that the targets always remain in the field of view.