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An experimental study of hybrid switched system approaches to visual servoing

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2 Author(s)
N. R. Gans ; Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL, USA ; S. A. Hutchinson

In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new hybrid switched system approach, in which a high-level decision maker selects between two visual servo controllers. We have evaluated our approach with simulations and experiments using three individual visual servo systems and three candidate switching rules. The proposed method is very promising for visual servo tasks in which there is a significant distance between the initial and goal configuration, or the task is one that can cause an individual visual servo system to fail.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003