A PFM-based Global Convergence Visual Servo Path Planner  

作　　者：ZHANG Xue-Bo FANG Yong-Chun MA Bo-Jun 

机构地区：[1]Institute of Robotics and Information Automatic System, NankaiUniversity, Tianjin 300071, P.R. China

出　　处：《自动化学报》2008年第10期1250-1256,共7页Acta Automatica Sinica

基　　金：Supported by Natural Science Foundation of Tianjin （07JCY- BJC05400）, Opening Project of National Laboratory of Industrial Control Technology of Zhejiang University （0708001）, Program for New Century Excellent Talents in University （NCET-06-0210）

摘　　要：作为计划方法的一条古典本地路径，因为它的简洁和优雅，潜在的地方法(PFM ) 在机器人学地里广泛地被使用。然而，当产生一条路径让一个机器人列在后面时，这个方法的一个主要缺点是本地最小的存在。在这份报纸，我们在场由使用 PFM 方法在看法(FOV ) 的照相机地以内保留特征为视觉伺服计划途径的一条路径。严密分析然后被介绍证明计划方法的构造路径的全球稳定性。而且，怎么获得的问题一更好三维(3D ) 照相机路径也广泛地被学习。模拟结果被提供验证建议路径规划者的表演。As a classical local path planning method, potential field method （PFM） is used widely in the robotics field because of its simplicity and elegance. However, a main drawback of this method is the existence of local minima when generating a path for a robot to follow. In this paper, we present a path planning approach for visual servo by using PFM method to keep the features within the camera field of view （FOV）. A rigorous analysis is then presented to prove the global stability of the constructed path planning method. Moreover, the problem of how to obtain a better three-dimensional （3D） camera path is also studied extensively. Simulation results are provided to verify the performance of the proposed path planner.

关 键 词：自动化系统 设计方案 过程控制方法 机器人 

分 类 号：TM63[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]