抄録
This paper discusses potential and stable region problems in feature-based visual servoing. Visual servoing controllers proposed so far are valid only for the features in the neighborhood of the reference features. For initial features far from the reference may converge to a feature set that is different from the reference. Even worse, for some special cases the camera moves away from the reference position. In this paper, the visual servoing is considered as a potential minimization problem whose potential being squared error of the features. Stable region is visualized by using the potential and artificial potential switching control is proposed to enlarge the stable region.
