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

摘要

This paper studies a visual feedback pose estimation/control problem in the situation that a two-wheeled vehicle equipped with a camera tracks a vehicle equipped with a target object. Then, we handle this problem under the assumption that the velocity of the object vehicle is expressed by a fourier series expansion. First, we propose the problem statement of 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 the convergence of relative attitude of both vehicles. Finally, we demonstrate the validity of the proposed method through a simulation.