From optimal planning to visual servoing with limited FOV

This paper presents an optimal feedback control scheme to drive a vehicle equipped with a limited Field-Of-View (FOV) camera towards a desired position following the shortest path and keeping a given landmark in sight. Based on the shortest path synthesis available from previous works, feedback control laws are defined for any point on the motion plane exploiting geometric properties of the synthesis itself. Moreover, by using a slightly generalized stability analysis setting, which is that of stability on a manifold, a proof of stability is given. Reported simulations demonstrate the effectiveness of the proposed technique.