ナビゲーション関数を用いた視覚フィードバック制御による障害物回避

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: 2013/07/01

タイトル(英語): Obstacle Avoidance of Visual Feedback Control via Navigation Function

著者名: 村尾　俊幸（早稲田大学 理工学術院／独立行政法人科学技術振興機構,CREST），河合　宏之（金沢工業大学 工学部），鶴尾　有生（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 (Faculty of Science and Engineering, Waseda University/Japan Science and Technology Agency, CREST), Hiroyuki Kawai (College of Engineering, Kanazawa Institute of Technology), Yusei Tsuruo (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，障害物回避，ナビゲーション関数，受動性，安定性，飛行ビークル　　visual feedback control，obstacle avoidance，navigation function，passivity，stability，aerial vehicle

要約(英語): This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, we describe the representation of a relative pose and a camera model. Next, a stabilizing pose control law for a 3-D visual motion error system which a time-varying desired pose can be applied to 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. It should be noted that we develop a visual motion observer for path planning in order to estimate the position of the obstacles from the camera. The main contribution of this paper is to provide that the path planner which can achieve obstacle avoidance during the servoing is designed for the 3-D eye-in-hand visual feedback control. Finally, we present simulation results and actual nonlinear experimental results using an aerial vehicle in order to verify control performance of the proposed control scheme with obstacle avoidance.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.7 （2013） 特集：平成24 年電気学会電子・情報・システム部門大会

本誌掲載ページ: 1367-1375 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/133/7/133_1367/_article/-char/ja/