Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper investigates stabilizing receding horizon control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-to-hand visual feedback systems. Firstly, a visual motion observer for a controlled mobile robot is presented. Then, visual motion observer-based stabilizing receding horizon control for 3-D visual feedback systems, highly nonlinear and relatively fast systems, 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 collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages903-909
Number of pages7
DOIs
Publication statusPublished - 2012
Event2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik
Duration: 2012 Oct 32012 Oct 5

Other

Other2012 IEEE International Conference on Control Applications, CCA 2012
CityDubrovnik
Period12/10/312/10/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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