Maintaining Visibility of Dynamic Objects in Cluttered Environments Using Mobile Manipulators and Vector Field Inequalities

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Abstract

Vision-based perception has become prevalent in robotic applications, especially in those where the control loop relies on visual data, such as visual servoing. For those applications, ensuring that the features or target object remain visible to the camera is critical, necessitating visibility-aware control. In this paper, we propose a method to guarantee the visibility of a dynamic object using a constrained kinematic controller and Vector Field Inequalities (VFIs) to include a linear visibility constraint. Unlike existing methods, we introduce constraints into the kinematic controller to ensure the target's visibility without needing a trajectory optimizer or local planner. Our method maintains the target object in the camera field of view (FoV) by representing the FoV with four infinite planes and maintaining the distance between the target object and each plane higher than a predefined distance. We evaluated the proposed approach using a mobile manipulator in two simulations involving cluttered environments: the first scenario involves a stationary target object, whereas the second scenario presents a more challenging workspace involving a moving target. Our results demonstrate that the proposed approach successfully maintains the target within the FoV while avoiding obstacles in the workspace, showing the potential of our method to improve the safety and reliability of visual-servoing-based robotic systems.

Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PublisherIEEE
Pages6371-6378
Number of pages8
ISBN (Electronic)9781665491907
ISBN (Print)9781665491907
DOIs
Publication statusPublished - 13 Dec 2023
Event2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States
Duration: 1 Oct 20235 Oct 2023

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/TerritoryUnited States
CityDetroit
Period1/10/235/10/23

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