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 feedbackposition tracking of two kinds of two-wheeled vehicles with acamera or a target object for visual measurements. A problemformulation is first provided, where the dynamics of the cameravehicle is explicitly considered and the target vehicle velocity isexpressed by a Fourier series expansion. Next, passivity-basedtracking control structure is explained and a visual feedbackposition tracking law based on the structure is proposed. Here,the present law integrates a vision-based observer to estimatethe relative pose between the two vehicles and the target vehiclevelocity simultaneously. This work then provides convergenceanalysis and simulation is finally demonstrated to verify theeffectiveness of the present method.

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