基于速度补偿的视觉伺服视场控制

An approach based on velocity compensation to keep the target in the field of view for visual servoing

针对眼在手上视觉伺服提出了一种保持目标物体特征点始终位于视场内的算法.当投影点接近视场边缘时,求解投影点的移动速度,然后在此基础上设计相机的补偿速度,阻止投影点离开视场.基于Matlab,比较了一般的视觉伺服与速度补偿后的视觉伺服的控制效果.仿真结果表明这种方法可以有效地防止目标脱离视野,并且对机器人的约束较小,给优化留下了较大的空间.

An approach was proposed to keep the target in the field of view for visual servoing with eye-in-hand configuration.When the target was near the boundary of field of view,the velocity of the feature points in projection was computed,based on which the velocity compensation of camera was calculated to prevent the target from further escaping.With the help of Matlab,the control effect of normal visual servoing and visual servoing with velocity compensation was compared.The simulation results demonstrate that the proposed method is effective and that the constraint laid by this method is small in extent,leaving relatively large space for further optimization.