控制理论与应用2025，Vol.42Issue(9)：1681-1699,19.DOI:10.7641/CTA.2024.30248
面向机器人控制的直接视觉伺服技术发展综述
A review of the development of direct vision servo technology for robot control
黄梦洁 1叶磊 1易凡骁 1王千1
作者信息
- 1. 国防科技大学智能科学学院,湖南长沙 410073
- 折叠
摘要
Abstract
Visual servo is a method that uses image information to realize closed-loop control of robots,which has a wide range of applications in mobile robot navigation control and high-precision control of robotic arms.Compared with the classical visual servo method based on local features,direct visual servo technology makes more use of image global information,which has great advantages in the robustness and convergence of the control system.So this paper focuses on direct visual servo technology from two parts:visual processing and controller designing.This paper first introduces the classical visual servo framework,then studies the visual feature description method and the feature similarity measurement method in direct visual servo technology,and compares the differences in the performance of different feature description methods in convergence domain and computing amount,and then studies the controller design methods based on optimization strategy like nonlinear optimization in direct visual servo,and finally looks forward to the role of deep learning in direct visual servo.关键词
机器人控制/视觉伺服/直接视觉伺服/图像特征描述方法/相似性度量/优化控制策略Key words
robot control/visual servo/direct visual servo/description methods of image features/similarity measures/optimize control strategies引用本文复制引用
黄梦洁,叶磊,易凡骁,王千..面向机器人控制的直接视觉伺服技术发展综述[J].控制理论与应用,2025,42(9):1681-1699,19.
