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Virtual Image-Based Visual Servoing
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AI
DOI：10.1109/TASE.2025.3631649.png)
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Abstract
En 中文
The classical image-based visual servoing (IBVS) methods exhibit strong robustness to robot modeling and camera calibration errors, but suffer from uncontrollable spatial trajectories and local convergence issues. Although current IBVS variants employ specialized visual features or information to improve trajectory controllability, these approaches impose restrictive geometric constraints, such as requiring coplanar feature points or configurations approximately orthogonal to the optical axis of the camera. Furthermore, despite conclusive evidence of local minima (LM) in the IBVS scheme, there is currently no solution to address this challenge. For the reason, this article first introduces a novel virtual image construction method and proposes a decoupling visual servoing control law based on virtual image, achieving explicit separation of translational and rotational error dynamics. Then, through Monte Carlo simulations, the spatial distribution patterns of local minima in IBVS are systematically studied, and an escape algorithm leveraging virtual image is further designed. To the best of our knowledge, this may be the first attempt to address the issue of local minima only through IBVS to a certain extent. Comparative simulations and experiments validate the effectiveness and superiority of the proposed decoupling control law based on virtual image, and the success rate of the local minima escape algorithm is 100% under different configurations. Note to Practitioners—Image-based visual servoing demonstrates strong robustness against camera parameter errors in engineering applications. However, its uncontrollable spatial trajectory characteristics often lead to potential collisions between robots and obstacles, causing safety incidents. Furthermore, the local convergence property of IBVS limits its deployment in engineering applications, which may be unacceptable for certain scenarios. In this article, a novel virtual image construction approach that accomplishes the decoupling of translational and rotational errors is proposed, thereby achieving the decoupling of robot motion. In addition, through the observed patterns of local minima, a local minima escape algorithm based on virtual image is designed. Simulations and experiments confirm the effectiveness of the proposed method, and the theoretical model provides a useful tool for designing the spatial trajectories of IBVS and escaping the local minima, thus providing guidance for practical visual servoing applications.
Keywords:
Virtual image
visual servoing
decoupling control
local minima escape
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