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

Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/CCA.2012.6402426

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

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 language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	903-909
Number of pages	7
DOIs	https://doi.org/10.1109/CCA.2012.6402426
Publication status	Published - 2012
Event	2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik Duration: 2012 Oct 3 → 2012 Oct 5

Other

Other	2012 IEEE International Conference on Control Applications, CCA 2012
City	Dubrovnik
Period	12/10/3 → 12/10/5

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

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10.1109/CCA.2012.6402426

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Murao, T, Kawai, H & Fujita, M 2012, Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function. in Proceedings of the IEEE International Conference on Control Applications., 6402426, pp. 903-909, 2012 IEEE International Conference on Control Applications, CCA 2012, Dubrovnik, 12/10/3. https://doi.org/10.1109/CCA.2012.6402426

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year = "2012",

doi = "10.1109/CCA.2012.6402426",

language = "English",

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AB - 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.

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BT - Proceedings of the IEEE International Conference on Control Applications

T2 - 2012 IEEE International Conference on Control Applications, CCA 2012

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

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