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