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Visual Servoing with RRT for Collision Avoidance by mrrn411 is a document available to read on EtoBox.
This thesis presents a method for visual servoing in robotics that incorporates Rapidly-exploring Random Trees (RRT) for path planning and collision avoidance in cluttered environments. It utilizes 3D information from external cameras to reconstruct the environment and detect obstacles, allowing for model-free trajectory planning and real-time error correction using visual feedback. The proposed approach aims to enhance the navigation of robotic arms by combining open-loop trajectory execution with closed-l
- Author
- mrrn411
- Language
- EN