This paper investigates stabilizing receding horizon
control via an image space navigation function for three-dimensional
(3D) visual feedback systems. First, we describe
the representation of a relative pose and a camera model.
Next, a visual motion error system which can handle timevarying
desired motion is constructed. Then, visual motion
observer-based stabilizing receding horizon control for 3D
visual feedback systems is proposed. Moreover, a path
planner appropriate for the visual motion error system is
designed through an image space navigation function to
keep all features in the camera field of view. The main
contribution of this paper is to show that the path planner
which always remains in the camera field of view during
servoing is designed for position-based visual feedback
receding horizon control based on optimal control theory.
Finally, we present simulation and nonlinear experimental
results in order to verify control performance with visibility
maintenance of the proposed control scheme.
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