G. Allibert, E. Courtial, F. Chaumette. Visual servoing via Nonlinear Predictive control. In Visual Servoing via Advanced Numerical Methods, G. Chesi, K. Hashimoto (eds.), pp. 375-394, LNCIS 401, Springer-Verlag, 2010.
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In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual pre- dictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image prediction over a finite prediction horizon plays a crucial role for large displacements. This image prediction is obtained thanks to a model. The choice of this model is discussed. A nonlinear global model and a local model based on the interaction matrix are considered. Advantages and drawbacks of both models are pointed out. Finally, simulations obtained with a 6 degrees of freedom (DOF) free-flying camera highlight the capabilities and the efficiency of the pro- posed approach by a comparison with the classical image-based visual servoing
@InCollection{Allibert10LNCIS,
Author = {Allibert, G. and Courtial, E. and Chaumette, F.},
Title = {Visual servoing via Nonlinear Predictive control},
BookTitle = {Visual Servoing via Advanced Numerical Methods},
editor = {Chesi, G. and Hashimoto, K.},
Pages = {375--394},
Publisher = {LNCIS 401, Springer-Verlag},
Year = {2010}
}
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