Proc. of the 2012 IEEE Multi-conference on Systems and Control
巻, 号, ページ
pp. 903-909
出版年月
2012年10月3日
出版者
和文:
英文:
IEEE
会議名称
和文:
英文:
2012 IEEE Multi-conference on Systems and Control
開催地
和文:
英文:
Dubrovnik
アブストラクト
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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