This paper investigates passivity-based pose con trol via an obstacle avoidance navigation function for three dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, 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.

This paper investigates the visual feedback control by the visual motion observer with input saturation. Firstly, using standard body-attached coordinate frames (the world frame, camera frame and object frame), we present the visual motion error system which consists of the estimation error system and the pose control error system. Next, we propose the control law with the input saturation. After that, stability analysis of the closed-loop system is discussed in the sense of Lyapunov. Although the proposed control law cannot be designed based on the passivity of the visual motion error system explicitly, the skew-symmetric property of the visual motion error system plays an important role in the stability analysis. Finally, experimental results are shown in order to confirm the proposed method by using AR.Drone as a small unmanned aerial vehicle.

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This paper investigates passivity-based pose control via an obstacle avoidance navigation function for threedimensional (3-D) eye-in-hand visual feedback systems. Firstly, we describe the representation of a relative pose and a camera model. Next, a stabilizing pose control law for a 3-D visual motion error system which a time-varying desired pose can be applied to 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 collisionfree. It should be noted that we develop a visual motion observer for path planning in order to estimate the position of the obstacles from the camera. The main contribution of this paper is to provide that the path planner which can achieve obstacle avoidance during the servoing is designed for the 3-D eye-in-hand visual feedback control. Finally, we present simulation results and actual nonlinear experimental results using an aerial vehicle in order to verify control performance of the proposed control scheme with obstacle avoidance.