16: Advanced Visual Servoing

This chapter builds on the previous chapter to introduce advanced visual servo techniques, and building on all the earlier chapters tackles some complex application examples. It covers:

  • XY/Z partitioned IBVS
  • IBVS in polar coordinates
  • IBVS in spherical coordinates
  • Applications:
    • IBVS of a holonomic mobile robot
    • IBVS of a non-holonomic mobile robot
    • IBVS of a quadrotor