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Event-Based Visual Servoing with Features’ Prediction

  • G. J. Garcia
  • J. Pomares
  • F. Torres
  • P. Gil
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)

Abstract

Event-based visual servoing is a recently presented approach that performs the positioning of a robot using visual information only when it is required. From the basis of the classical image-based visual servoing control law, the scheme proposed in this paper can reduce the processing time at each loop iteration in some specific conditions. The proposed control method enters in action when an event deactivates the classical image-based controller (i.e. when there is no image available to perform the tracking of the visual features). A virtual camera is then moved through a straight line path towards the desired position. The virtual path used to guide the robot improves the behavior of the previous event-based visual servoing proposal.

Keywords

Visual Servoing Event-based Control Event-trigger Visual Robot Control Path planning 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Physics, Systems Engineering and Signal Theory DepartmentUniversity of AlicanteSan Vicente del RaspeigSpain

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