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Title
Japanese: 
English:Visual Motion Observer-based Stabilizing Receding Horizon Control via Obstacle Avoicance Navigation Function 
Author
Japanese: 村尾 俊幸, 河合 宏之, 藤田 政之.  
English: T. Murao, H. Kawai, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proc. of the 2012 IEEE Multi-conference on Systems and Control 
Volume, Number, Page         pp. 903-909
Published date Oct. 3, 2012 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:2012 IEEE Multi-conference on Systems and Control 
Conference site
Japanese: 
English:Dubrovnik 
Abstract 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.

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