ドローンの視覚情報による地上ロボットの受動性に基づく位置姿勢制御

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: 2019/11/01

タイトル(英語): Passivity-based Pose Control for a Ground Vehicle through Drone's Visual Feedback Control

著者名: 村尾　俊幸（金沢工業大学工学部），黒田　衛（金沢工業大学大学院工学研究科），河合　宏之（金沢工業大学工学部）

著者名(英語): Toshiyuki Murao (College of Engineering,Kanazawa Institute of Technology), Mamoru Kuroda (Graduate Program in Mechanical Engineering,Kanazawa Institute of Technology), Hiroyuki Kawai (College of Engineering,Kanazawa Institute of Technology)

キーワード: 視覚フィードバック制御，受動性，安定性，Eye-to-hand 構造，ドローン，可動カメラ　　visual feedback control，passivity，stability，eye-to-hand configuration，drone，movable camera

要約(英語): This paper presents passivity-based visual feedback control for an endpoint closed-loop system with a movable camera. In particular, we discuss a control scheme for the vehicle system that consists of two ground vehicles and a camera-mounted aerial vehicle. The objective of the system is that a controlled ground vehicle tracks a target ground vehicle by using only aerial vehicle's visual information. First, a brief summary of the estimation and pose error systems for the camera-mounted aerial vehicle is presented. Second, we design a novel nonlinear observer to estimate the pose of the controlled ground vehicle. Next, we propose a visual feedback control law for the constructed visual motion error system based on the passivity. After discussing stability analysis of the closed-loop system through Lyapunov stability theorem, we present L2-gain performance analysis that deals with the disturbance attenuation problem via dissipation systems theory. Finally, we provide simulation results and actual nonlinear experimental results using two ground vehicles and a camera-mounted aerial vehicle to illustrate the performance of the proposed control method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.11 （2019）特集Ⅰ：国際会議ICESS 2018　特集Ⅱ：電気関係学会関西連合大会

本誌掲載ページ: 1316-1324 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/139/11/139_1316/_article/-char/ja/