Gradient Projection Methods for Constrained Image-based Visual Servo - Visual Servoing via Advanced Numerical Methods - page 262

final view

500

image feature
target

450

400

350

300

250

200

150

100

50

0

0 100 200 300 400 500

Fig. 14.17 Final view of the image feature and the object

distance

245.82

245.8

245.78

245.76

245.74

245.72

245.7

245.68

0 5 10 15 20

Fig. 14.18 Distance between the object and center of the image with field of view constraints

artificial force starts to decrease the distance and constrains the object remain in the
image of the camera.

14.6 Conclusions

This chapter describes the performance of gradient projection methods to satisfy
three kinds of constraints that typically arise in visual servo applications: joint lim-
its, visual occlusion, keeping the desired objective inside view. The task function
approach provides a formalism by which a secondary task can be achieved without
disturbing the execution of the primary task. With gradient projection methods, the
secondary task corresponds to the gradient of a cost function, and this gradient is