Visual motion observer-based stabilizing receding horizon control via image space navigation function

Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/CCA.2010.5611200

Visual motion observer-based stabilizing receding horizon control via image space navigation function

Toshiyuki Murao^*, Hiroyuki Kawai, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	1648-1653
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2010.5611200
Publication status	Published - 2010
Event	2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama Duration: 2010 Sept 8 → 2010 Sept 10

Other

Other	2010 IEEE International Conference on Control Applications, CCA 2010
City	Yokohama
Period	10/9/8 → 10/9/10

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

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10.1109/CCA.2010.5611200

Cite this

Murao, T, Kawai, H & Fujita, M 2010, Visual motion observer-based stabilizing receding horizon control via image space navigation function. in Proceedings of the IEEE International Conference on Control Applications., 5611200, pp. 1648-1653, 2010 IEEE International Conference on Control Applications, CCA 2010, Yokohama, 10/9/8. https://doi.org/10.1109/CCA.2010.5611200

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year = "2010",

doi = "10.1109/CCA.2010.5611200",

language = "English",

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AB - This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

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Visual motion observer-based stabilizing receding horizon control via image space navigation function

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