Abstract
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.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3061-3068 |
| Number of pages | 8 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 2003 |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: Sep 14 2003 → Sep 19 2003 |
ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering