Novel two-stage hybrid IBVS controller combining Cartesian and polar based methods

摘要

In this paper, we address the issue of two-stage visual servoing using pure 2D visual data. For robotics visual control, Imaged based visual servoing(IBVS) is considered more efficient and robust. Classical IBVS system is usually defined in the Cartesian coordinate space as image points. It is known that classical IBVS may cause unexpected camera movements for cases involve large rotation motion around optical axis, while IBVS based on polar coordinate can overcome this problem. We made a further study on polar-based IBVS control, and proposed a two-stage strategy combining both basic IBVS methods. Based on task decomposition using information from homography, we designed a novel two-stage controller considering strengths of both basic IBVS systems. Simulations are taken to compare with the basic IBVS methods. Finally, the results are presented to illustrate the effectiveness and optimal performance of the proposed method.