2012 Fiscal Year Final Research Report
Visual Feedback Control for Multi-Robot with Panoramic Camera: Passivity-Based Approach
| Project/Area Number |
22760323
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Advanced Institute of Industrial Technology |
|---|
Principal Investigator |
MURAO Toshiyuki 産業技術大学院大学, 産業技術研究科, 助教 (00447038)
|
|---|
| Project Period (FY) |
2010 – 2012
|
| Keywords | 制御工学 / 視覚フィードバック / シンクロ制御 / 機械力学・制御 / 知能ロボティックス |
|---|
| Research Abstract |
This study investigates passivity-based visual feedback control for multi-robot with panoramic camera. Firstly, the vision-based estimation and pose control with a panoramic camera via the passivity approach are presented. Next, passivity-based pose control via an image space navigation function and an obstacle avoidance navigation function for three dimensional eye-in-hand visual feedback systems are designed. Finally, visual motion observer-based bilateral attitude and position control for eye-in-hand mobilerobot systems is proposed. Stability analysis of the proposed control laws and convergence analysis of the proposed path planners are provided. The effectiveness of the proposed frameworks are verified through computer simulations and experiments.
|
