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 |
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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 |
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City | Dubrovnik |
Period | 12/10/3 → 12/10/5 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Mathematics(all)