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Constrained Control Synthesis using Barrier Functions
Constrained Control Synthesis using Barrier Functions
Paper Title
Constrained Image-Based Visual Servoing using Barrier Functions. pdf
Authors
Iman Salehi, Ghananeel Rotithor, Ryan Saltus, and Ashwin Dani
Date
30 May 2021 - 05 June 2021
Published in
IEEE International Conference on Robotics and Automation (ICRA)
The experimental setup showing Baxter's end-effector with an eye-in-hand configuration observing the ArUco's marker.
Abstract: This paper presents a novel constrained image-based visual servoing (IBVS) approach that guarantees target features to remain within the camera field of view (FOV) for the duration of the task. Barrier function (BF) is used to transform the feature dynamics on the image plane into equivalent dynamics with full state constraints. An IBVS controller is designed for the full state constrained system that regulates the original system. A stability analysis is provided to prove the local asymptotic convergence of the state error in the sense of Lyapunov. Simulation and robot implementation results show the efficiency of the proposed method to reach the desired features from any initial configuration while the visibility constraints of the feature points are being realized.
Robot Experiment and Simulation Results
Robot Experiment and Simulation Results
In this video, two sets of robot experiments are carried out to demonstrate the motivation and utility of the proposed method in practice. The first experiment illustrates a scenario where an unconstrained image-based visual servoing (IBVS) controller is used. It shows Baxter's end-effector with an eye-in-hand configuration fails to maintain the feature trajectories inside an arbitrarily selected box before they converge to the desired feature points. The second experiment demonstrates the efficacy of using the IBVS controller with barrier transformation by showing the feature trajectories are successfully maintained inside the box for the duration of the task, and they asymptotically converge to the desired feature points.
Simulation results for the IBVS controller without barrier transformation. (1) Image plane feature values along with dashed lines showing the barrier limits. (2) Pixel trajectories with the box indicating image size
Simulation results for the IBVS controller with barrier transformation. (1) Image plane feature values along with dashed lines showing the barrier limits. (2) Pixel trajectories with the box indicating the image size.
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