%0 Journal Article 
%F Mezouar02b
%A Mezouar, Y.
%A Chaumette, F.
%T Avoiding self-occlusions and preserving visibility by path planning in the image
%J Robotics and Autonomous Systems
%V 	 41
%N 2
%P 77-87
%I Elsevier
%X In this paper, we address the problem of generating trajectories of some image features in order to control efficiently a robotic system using an image-based control strategy. First, physically valid C2 image trajectories which correspond to quasi-optimal 3D camera trajectory are performed. Both self-occlusion avoidance and visibility constraints are taken into account at the task planning level. The good behavior of image-based control when desired and current camera positions are close is then exploited to design an efficient control scheme. Real-time experimental results using a camera mounted on the end effector of a six degree-of-freedom robot confirm the validity of our approach
%U http://rainbow-doc.irisa.fr/pdf/2002_ras_mezouar.pdf
%U http://dx.doi.org/10.1016/S0921-8890(02)00277-4
%8 November
%D 2002