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

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Links

Publications

• A new hybrid image-based visual servo control scheme, Corke, Hutchinson (2000)
• Visual servo control II: Advanced approaches, Chaumette, Hutchinson (2006)
• 2.5D visual servoing, Malis, Chaumette (1999)