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1、Vol.34,No.10ACTAAUTOMATICASINICAOctober,2008APFM-basedGlobalConvergenceVisualServoPathPlanner111ZHANGXue-BoFANGYong-ChunMABo-JunAbstractAsaclassicallocalpathplanningmethod,potential¯eldmethod(PFM)isusedwidelyintherobotics¯eldbecauseofitssimplicityandelegan
2、ce.However,amaindrawbackofthismethodistheexistenceoflocalminimawhengeneratingapathforarobottofollow.Inthispaper,wepresentapathplanningapproachforvisualservobyusingPFMmethodtokeepthefeatureswithinthecamera¯eldofview(FOV).Arigorousanalysisisthenpresentedtopr
3、ovetheglobalstabilityoftheconstructedpathplanningmethod.Moreover,theproblemofhowtoobtainabetterthree-dimensional(3D)camerapathisalsostudiedextensively.Simulationresultsareprovidedtoverifytheperformanceoftheproposedpathplanner.KeywordsPotential¯eldmethod(PF
4、M),visualservo,¯eldofview(FOV),globalstabilityDuringthepastfewyears,thepathplanningproblemusingadaptivecontrolgains.However,toachievehighe±-hasreceivedconsiderableattentionintherobotics¯eld.Itciencyvisualservo,itispreferredtoobtainastraightlinetakesaccount
5、ofdrivingarobotfromaninitialcon¯gu-pathinsteadofderivingacircular-likepathinthepresencerationtothedesiredonebygeneratingapathtofollow.ofmoderatecameradisplacementsbetweentheinitialandCurrently,therearetwomainpathplanningapproaches:desiredlocations.Motivate
6、dbythat,[7]proposedadiscon-globalandlocalplanningmethod.Globalplanninggener-tinuousmethodbyswitchingamongposition-basedcontrolallyinvolvestheconstructionandmaintenanceofaglobalstrategiesandbackwardmotion,soasabetter3Dtransla-map,andthus,heavycomputingburde
7、ncannotbeavoided.tionalpathisobtainedandkeepthefeaturesinFOVsimul-Ontheotherhand,localplanningmethodssuchaspoten-taneously.Unfortunately,position-basedcontrolstrategiestial¯eldmethod(PFM)aremucheasiertoimplementandareoftencorruptedbyimagenoiseandcameramode
8、lingtherefore,havegainedincreasedpopularityrecently.Be-errors;moreover,thismethodrequires3Dobjectmodeltosides,PFMisane±cientwaytoenforcevariousexternalbeexactlyknownasaprior.constraintsforpathplanningoftherob
