抄録
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.
| 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 | 903-909 |
| ページ数 | 7 |
| DOI | |
| 出版ステータス | Published - 2012 |
| イベント | 2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik 継続期間: 2012 10 3 → 2012 10 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
- 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)