An experimental study of hybrid switched system approaches to visual servoing

Nicholas R. Gans, Seth A. Hutchinson

Research output: Contribution to journalConference article

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 languageEnglish (US)
Pages (from-to)3061-3068
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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