Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints
Charalampos P. Bechlioulis, Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos · IEEE Transactions on Robotics · 2019
In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.