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Author Murao, T. ♦ Kawai, H. ♦ Fujita, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2010
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Visualization ♦ Navigation ♦ Cameras ♦ Aerospace electronics ♦ Lyapunov method ♦ Estimation error ♦ Feedback control
Abstract This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.
Description Author affiliation: Department of Robotics, Kanazawa Institute of Technology, Ishikawa 921-8501, Japan (Kawai, H.) || Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology, Tokyo 140-0011, Japan (Murao, T.) || Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 152-8550, Japan (Fujita, M.)
ISBN 9781424453627
ISSN 10851992
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2010-09-08
Publisher Place Japan
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 608.69 kB
Page Count 6
Starting Page 1648
Ending Page 1653


Source: IEEE Xplore Digital Library