2026
Obstacle-Aware IBVS Target Tracking Via Feature-Space Projection and Virtual Imaging Guidance with ADP-Shaped Terminal Cost
ICRA 2026poster
We propose a visual-servoing and obstacle-avoidance controller for a wheeled mobile robot (WMR) with a two-axis gimbal camera that operates without mapping, using only vision and lightweight forward sensing. A task-allocation MPC with online terminal-cost iteration is introduced. Specifically, task …