I am at moment trying to implement a visual servoing application. the robot I am using is a UR5, and TCP has a stereo camera mounted on to it. The idea is to move the end effector according to the object being tracked.
The path-planning algorithm for this system should comply with some rules.
- The path which it creates should be collision free, and always keep the object being tracked at sight at all time.
Having a path that keeps the object in sight has been bit of problem. Sometime will the end effector rotate around itself, messing up measurements taken and thus the tracking itself.
- It should be able to maneuver away from static obstacles.
A Possible solution?
I thought of a possible solution. Since my current state and desired state is defined by two different sphere, A possible solution would be to create a straight line between each center of each sphere, and between the current position and desired position, such that a straight path in between could be computed easily. which always keeps itself oriented toward the object. Problems is that I am not sure how I should handle collision here.
Update Or use it as a heuristic for a heuristic based path planning?