Stabilizing predictive visual feedback control via image space navigation function

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果査読

1 被引用数 (Scopus)

抄録

This paper investigates stabilizing receding horizon control via an image space navigation function for three-dimensional (3-D) visual feedback systems. Firstly, we describe the representation of a relative rigid body motion and a camera model. Next, the 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 3-D visual feedback systems is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an image space navigation function to keep all features into the camera field of view. The main contribution of this paper is to show that the path planner which always remains in the camera field of view during the servoing is designed for the position-based visual feedback receding horizon control based on optimal control theory. Finally, we present simulation and actual nonlinear experimental results in order to verify control performance with visibility maintenance of the proposed control scheme.

本文言語English
ページ(範囲)721-729
ページ数9
ジャーナルIEEJ Transactions on Electronics, Information and Systems
132
5
DOI
出版ステータスPublished - 2012

ASJC Scopus subject areas

  • 電子工学および電気工学

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