A Variational Approach to Trajectory Planning in Visual Servoing - Visual Servoing via Advanced Numerical Methods - page 124

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Fig. 7.5 Image trajectory under visibility constraint

7.7 Conclusion

In this chapter, we have addressed the problem of generating trajectories of some im-
age features that corresponds to optimal 3D trajectories under visibility constraints.
The obtained path can then be coupled to traditional image-based servoing in order
to control efficiently a robotic system. It has first been shown that the path-planning
problem can be formulated as an optimal control problem and then considered as a
variational problem which can be solved using a numerical method.