Conference Paper Visual Feedback Pose Tracking Control of Two-wheeled Vehicles with Target Vehicle Motion Models

仲野, 聡史  ,  Nakano, Satoshi  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

This paper studies a visual feedback pose estimation/control problem in the situation that a two-wheeled vehicleequipped with a camera tracks a vehicle equipped with a target object. Then, we handle this problem under the assumptionthat the velocity of the object vehicle is expressed by a fourier series expansion. First, we propose the problem statementof visual feedback pose tracking control. We next prove the convergence of the estimation of the rotation part. Then,the convergence of the translation part is shown via stability analysis of perturbed systems. Moreover, we analyze theconvergence of relative attitude of both vehicles. Finally, we demonstrate the validity of the proposed method through asimulation.

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