Model-Predictive Constrained Visual Positioning
Abstract
The paper is devoted to the problem of moving fully-actuated plant visual positioning on the plane. There is a video-camera rigidly mounted on the plant directed at the visual marker parallel to the object’s plane of motion. Marker is a square, the corners of which are points of interest. The plant is controlled by setting the velocity vector. The task is to synthesize such control that provides the desired position of the marker projection in the image plane. The task is complicated by the fact that the camera's field of view is limited, and when the projection of one of the marker's corners goes beyond this area, the entire marker ceases to be recognized. Thus, an additional requirement for control is constant retention of the marker projection within the field of view. To solve the problem of visual positioning without taking into account the constraints, usually the visual servoing control method is used. Taking into account the specified constraints is possible by the usage of the model-predictive control approach. Thus, the paper demonstrates a solution to the visual positioning problem taking into account the constraints on the projection of the visual marker using a combination of the visual servoing method and the model-predictive control approach. The efficiency of the presented approach is demonstrated by the results of experiments with a computer model of fully-actuated planar object.
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