Visual motion observer-based stabilizing receding horizon control via obstacle avoidance navigation function

This paper investigates stabilizing receding horizon control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-to-hand visual feedback systems. Firstly, a visual motion observer for a controlled mobile robot is presented. Then, visual motion observer-based stabilizing receding horizon control for 3-D visual feedback systems, highly nonlinear and relatively fast systems, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.