Visible RRT*: Asymptotically Optimal Random Search Tree for Visual Servo Tasks with the FOV Constraint
Zhejin Zhu, Runhua Wang, Xuebo Zhang · 2023
This paper presents a novel visibility-based asymptotically optimal random search tree trajectory planning algorithm (Visible RRT*), which is dedicated to addressing the visual servoing tasks under the FOV constraint. Firstly, a search tree reconstruction method under the FOV constraint is proposed to obtain an asymptotically optimal solution. Meanwhile, a novel greedy search strategy is designed to improve the searching efficiency by segmenting the greedy results based on the FOV constraint. Finally, comparative simulations are conducted in two challenging scenarios, and the results show that the planned trajectory is asymptotically optimal, thus confirming the effectiveness of the proposed algorithm.