This code is a MATLAB simulation of the SnakeRaven vision system. Image Based Visual Servoing (IBVS) involves taking image features for measurements and computing the necessary camera motion. This MATLAB simulation does this with a virtual four dot target and builds on from the SnakeRaven simulator in repository: https://github.com/Andrew-Raz-ACRV/SnakeRavenSimulation
The main simulator is run using the command:
SnakeRaven_VisualServo_simulator
It utilises the functions in IBVS_demo, Math_functions, Plotting_functions and SnakeRaven_kinematics.
It can run either the IBVS orientation partitioned or Visual Predictive Control algorithms as mentioned in the chapter in my thesis
Note: the Visual Predictive Controller requires the Optimization Toolbox
Example output:
There is also code for processing validation data results which is executed by IBVS_results_processor and requires the Robotics toolbox and Signal Processing toolbox.
It also includes a variety of additional code for testing hand-eye calibration which may need Peter Corke's Robotic toolbox for MATLAB: https://github.com/petercorke/robotics-toolbox-matlab