%O BookSection 
%F Allibert10LNCIS
%A Allibert, G.
%A Courtial, E.
%A Chaumette, F.
%T Visual servoing via Nonlinear Predictive control
%B Visual Servoing via Advanced Numerical Methods
%E Chesi, G.
%E Hashimoto, K.
%P 375-394
%I LNCIS 401, Springer-Verlag
%X In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual pre- dictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image prediction over a finite prediction horizon plays a crucial role for large displacements. This image prediction is obtained thanks to a model. The choice of this model is discussed. A nonlinear global model and a local model based on the interaction matrix are considered. Advantages and drawbacks of both models are pointed out. Finally, simulations obtained with a 6 degrees of freedom (DOF) free-flying camera highlight the capabilities and the efficiency of the pro- posed approach by a comparison with the classical image-based visual servoing
%U http://rainbow-doc.irisa.fr/pdf/2010_lncis_allibert.pdf
%D 2010