安定化予測視覚フィードバック制御に対するナビゲーション関数を用いた目標位置姿勢生成

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/05/01

タイトル(英語): Stabilizing Predictive Visual Feedback Control via Image Space Navigation Function

著者名: 村尾　俊幸（産業技術大学院大学 産業技術研究科），河合　宏之（金沢工業大学 工学部），藤田　政之（東京工業大学 大学院理工学研究科）

著者名(英語): Toshiyuki Murao (School of Industrial Technology, Advanced Institute of Industrial Technology), Hiroyuki Kawai (College of Engineering, Kanazawa Institute of Technology), Masayuki Fujita (Graduate School of Science and Engineering, Tokyo Institute of Technology)

キーワード: 視覚フィードバック制御，Receding Horizon 制御，ナビゲーション関数，受動性，安定性　　visual feedback control，receding horizon control，navigation function，passivity，stability

要約(英語): This paper investigates stabilizing receding horizon control via an image space navigation function for three-dimensional (3-D) visual feedback systems. Firstly, we describe the representation of a relative rigid body motion and a camera model. Next, the 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 3-D visual feedback systems is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an image space navigation function to keep all features into 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 the servoing is designed for the position-based visual feedback receding horizon control based on optimal control theory. Finally, we present simulation and actual nonlinear experimental results in order to verify control performance with visibility maintenance of the proposed control scheme.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.5 （2012） 特集：新たな産業応用を可能にする無線通信技術

本誌掲載ページ: 721-729 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/5/132_5_721/_article/-char/ja/