A real-time perception-motion codesign method for image-based visual servoing in embodied intelligence systems

doi:10.1016/j.jii.2025.100933

A real-time perception-motion codesign method for image-based visual servoing in embodied intelligence systems

2025-09-09

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DOI：10.1016/j.jii.2025.100933

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• A gain-matrix based decoupling control approach is proposed to enable independent modulation of each IBVS control channel, enhancing the flexibility and control accuracy of embodied intelligent systems. • A fuzzy logic-integrated image-plane direction control strategy is developed to reduce redundant feature motions and improve the efficiency of perception–motion coordination. • A lightweight continuous velocity observer is designed to ensure initial velocity continuity, facilitating real-time control in resource-constrained embodied intelligent systems.

A real-time perception-motion codesign method for image-based visual servoing in embodied intelligence systems

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