Abstract
Imposing explicit trajectory constraints in robot visual servoing remains challenging. Existing tracking methods achieve fast responses by mapping visual residuals to control velocities, but they have weak constraints on the intermediate motion process, which lead to trajectory discontinuity, oscillation, or conservative behaviors. To enable constrained tracking for moving targets, this paper proposes a servo tracking method based on imitation trajectory constraints. A dynamic model describing the robot approaching a moving target is formulated and analyzed for convergence. A time-scalable deformation mechanism and a trajectory modulation incorporating shape and amplitude components are introduced to generate a series of trajectories in real time, from which tracking points are adaptively determined to form dynamic constraints. The robot velocity is then computed from target pose differentials or tracked key features to follow the constrained trajectory. Simulation and real-world experiments demonstrate that the proposed method can achieve dynamic obstacle avoidance and high-precision convergence compared with several state-of-the-art methods in complex environments.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Luo, Y., Ruan, S., Li, Y., & Chen, D. (2026). Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints. https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints
MLA 9
Luo, Yazhe, et al. "Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints." https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints.
Chicago (author–date)
Luo, Yazhe, Sipu Ruan, Yifei Li, and Diansheng Chen. 2026. "Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints." https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints.
Harvard
Luo, Y., Ruan, S., Li, Y. and Chen, D. (2026) 'Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints', Available at: https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints.
Vancouver
Luo Y, Ruan S, Li Y, Chen D. Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints. https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints
IEEE
Y. Luo, S. Ruan, Y. Li, and D. Chen, "Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints," https://omanscience.com/en/articles/robotic-servo-tracking-of-moving-targets-with-dynamic-imitation-constraints.