Obstacle avoidance of visual feedback control via navigation function

Toshiyuki Murao, Hiroyuki Kawai, Yusei Tsuruo, Masayuki Fujita

Research output: Contribution to journalArticle

Abstract

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for threedimensional (3-D) eye-in-hand visual feedback systems. Firstly, we describe the representation of a relative pose and a camera model. Next, a stabilizing pose control law for a 3-D visual motion error system which a time-varying desired pose can be applied to is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collisionfree. It should be noted that we develop a visual motion observer for path planning in order to estimate the position of the obstacles from the camera. The main contribution of this paper is to provide that the path planner which can achieve obstacle avoidance during the servoing is designed for the 3-D eye-in-hand visual feedback control. Finally, we present simulation results and actual nonlinear experimental results using an aerial vehicle in order to verify control performance of the proposed control scheme with obstacle avoidance.

Original languageEnglish
JournalIEEJ Transactions on Electronics, Information and Systems
Volume133
Issue number7
DOIs
Publication statusPublished - 2013

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Keywords

  • Aerial vehicle
  • Navigation function
  • Obstacle avoidance
  • Passivity
  • Stability
  • Visual feedback control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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