Stabilizing predictive visual feedback control via image space navigation function

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.