Human-in-the-Loop Visually Servoed Tracking

There are many features to take into consideration when designing servoed vision systems especially when redundant degrees-of-freedom (DOF) are present. Motion platforms mounted with camera systems usually have multiple joints. Example platforms include rovers, booms, gantries, aircrafts and submersibles. Teleoperating such systems to track moving objects is particularly challenging. The operator is part of the feedback loop and must the associated dynamics and delays must be taken into consideration. Together DOF redundancy one must resolve any potential motion conflicts arising from the shared man-machine control. This paper identifies such dynamics and designs an appropriate control system that leverages redundant DOF in the visual-servoing loop. A simulation and several experiments were performed to assess its performance.