Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function

Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/CCA.2012.6402426

Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function

Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

理工学術院総合研究所

研究成果: Conference contribution

3 被引用数 (Scopus)

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	https://doi.org/10.1109/CCA.2012.6402426
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

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

文献へのアクセス

10.1109/CCA.2012.6402426

フィンガープリント「Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル

Murao, T, Kawai, H & Fujita, M 2012, Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function. in Proceedings of the IEEE International Conference on Control Applications., 6402426, pp. 903-909, 2012 IEEE International Conference on Control Applications, CCA 2012, Dubrovnik, 12/10/3. https://doi.org/10.1109/CCA.2012.6402426

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