Masahide Ito   Takahiro Hiratsuka   Masaaki Shibata   
IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 7(S1) S160-S166 2012年12月 [査読有り]
This paper addresses the problem of visual target following for a nonholonomic wheeled mobile robot with a single fixed camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We pres...
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 132(5) 9-595 2012年
This paper addresses an avoidance problem of robot joint limits in visual servoing. Many robotic systems are practically subject to some physical constraints. In particular, violation of joint limits can deteriorate control performance and lead to...