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

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
ページ1648-1653
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama
継続期間: 2010 9 82010 9 10

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
CityYokohama
Period10/9/810/9/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学 (全般)

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