Conference Paper Dynamic Visual Feedback Position Tracking of Two-wheeled Vehicles with a Target Vehicle Motion Model

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

This paper investigates dynamic visual feedback position tracking of two kinds of two-wheeled vehicles with a camera or a target object for visual measurements. A problem formulation is first provided, where the dynamics of the camera vehicle is explicitly considered and the target vehicle velocity is expressed by a Fourier series expansion. Next, passivity-based tracking control structure is explained and a visual feedback position tracking law based on the structure is proposed. Here, the present law integrates a vision-based observer to estimate the relative pose between the two vehicles and the target vehicle velocity simultaneously. This work then provides convergence analysis and simulation is finally demonstrated to verify the effectiveness of the present method.

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