Optimal motion planning in the image plane for mobile robots

Hong Zhang, James P. Ostrowski

Research output: Contribution to journalConference article

7 Scopus citations


This paper presents a novel approach to image-based visual servoing by making motion plans directly in the image plane. By skipping the step of transferring image features back to robot pose, we are able to utilize the image features for a direct and fast motion planning solution. Standard visual servoing techniques can then be applied to track the given trajectory. In this paper, we have applied the idea to 2-D and 3-D (kinematic) motion planning and discussed the mechanisms for taking advantage of surplus features and incorporating other image-based constraints, such as that the targets always remain in the field of view.

Original languageEnglish (US)
Pages (from-to)3811-3816
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - Dec 3 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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