A PFM-based Global Convergence Visual Servo Path Planner
基于虚拟势场法的全局收敛视觉路径规划

As a classical local path planning method,potential field method (PFM) is used widely in the robotics field because of its simplicity and elegance.However,a main drawback of this method is the existence of local minima when generating a path for a robot to follow.In this paper,we present a path planning approach for visual servo by using PFM method to keep the features within the camera field of view (FOV).A rigorous analysis is then presented to prove the global stability of the constructed path planning method.Moreover,the problem of how to obtain a better three-dimensional (3D) camera path is also studied extensively. Simulation results are provided to verify the performance of the proposed path planner.