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Visual Predictive Control Strategy for Mobile Manipulators

Abstract : This work aims at designing a visual predictive control (VPC) scheme for a mobile manipulator. It consists in combining image-based visual servoing with model predictive control to benefit from the advantages of both control structures. Two challenges are addressed in this paper: the choice of the visual features and the closed-loop stability. The first ones rely on image moments to improve the end effector positioning precision. The second one is tackled through a terminal constraint coupled with suitable input constraints to reduce the computational burden. Simulation results using ROS and Gazebo validate the proposed approach.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-03696981
Contributor : Viviane CADENAT Connect in order to contact the contributor
Submitted on : Thursday, June 16, 2022 - 1:24:53 PM
Last modification on : Thursday, June 23, 2022 - 3:43:49 PM

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  • HAL Id : hal-03696981, version 1

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H Bildstein, A Durand-Petiteville, Viviane Cadenat. Visual Predictive Control Strategy for Mobile Manipulators. European Control Conference 2022, Jul 2022, Londres, United Kingdom. ⟨hal-03696981⟩

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