Dynamic sensor planning in visual servoing

We present an approach to dynamic sensor planning problems in visual servoing. Specifically, one of the main problems an image-based visual servoing is to plan the camera trajectory in order to avoid undesired configurations (e.g., features out of view, collision with obstacles, etc.). Our approach uses the robot redundancy and employs a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reflects given constraints on the manipulator trajectory. We describe how this methodology is applied to common problems in robotic vision: occlusion avoidance, field of view constraint and obstacle avoidance. We demonstrate the validity of this approach with various experiments.