Interpolation and Tracking of Rigid Body Orientations

被引：0

作者：

Park, Jonghoon ^{[1
]}

机构：

[1] SimLab Co Ltd, Seoul, South Korea

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

orientation; interpolation; tracking; Lie group; differential of exponentials; ATTITUDE-CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A method of interpolating and tracking rigid body motions in terms of its exponential coordinates is developed based on the differential of exponentials. The analytic closed-form expressions are provided for differential of exponential on SO(3) as well as its time-derivative. Complete methods for interpolating and tracking in terms of exponential coordinates of SO(3) are developed. In particular, interpolation is made with the boundary conditions including acceleration level. Reference acceleration is designed on SO(3) for linearized closed-loop dynamics in exponential coordinates.

引用

页码：668 / 673

页数：6

共 50 条

[31] Realtime Markerless Rigid Body Head Motion Tracking Using the Microsoft Kinect
Noonan, Philip J.
Howard, Jon
Cootes, Tim F.
Hallett, William A.
Hinz, Rainer
[J]. 2012 IEEE NUCLEAR SCIENCE SYMPOSIUM AND MEDICAL IMAGING CONFERENCE RECORD (NSS/MIC), 2012, : 2241 - 2246
[32] Moving object tracking employing rigid body motion on matrix Lie groups
Cesic, Josip
Markovic, Ivan
Petrovic, Ivan
[J]. 2016 19TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION), 2016, : 2109 - 2115
[33] 3-D Rigid Body Tracking Using Vision and Depth Sensors
Gedik, O. Serdar
Alatan, A. Aydin
[J]. IEEE TRANSACTIONS ON CYBERNETICS, 2013, 43 (05) : 1395 - 1405
[34] Rigid-Body Attitude Tracking with Vector Measurements and Unknown Gyro Bias
Mercker, Travis H.
Akella, Maruthi R.
[J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2011, 34 (05) : 1474 - 1484
[35] Eigenrotation-based rigid body tracking system with sliding mode controller
Li, Tiejun
Huang, Hai
[J]. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2010, 36 (06): : 681 - 685
[36] RIGID-BODY ATTITUDE TRACKING WITH VECTOR MEASUREMENTS AND UNKNOWN GYRO BIAS
Mercker, Travis H.
Akella, Maruthi R.
[J]. SPACEFLIGHT MECHANICS 2011, PTS I-III, 2011, 140 : 177 - +
[37] Robust approach for attitude tracking and nonlinear disturbance rejection of rigid body spacecraft
Ping, Zhaowu
Dong, Yi
Tang, Hao
Lu, Jun-Guo
[J]. IET CONTROL THEORY AND APPLICATIONS, 2016, 10 (17): : 2325 - 2330
[38] Remote trajectory tracking of a rigid body in an incompressible fluid at low Reynolds number
Kolumban, Jozsef J.
[J]. COMPTES RENDUS MATHEMATIQUE, 2022, 360 (01) : 1135 - 1144
[39] As-rigid-as-possible shape interpolation
Alexa, M
Cohen-Or, D
Levin, D
[J]. SIGGRAPH 2000 CONFERENCE PROCEEDINGS, 2000, : 157 - 164
[40] Non-rigid Target Tracking in 2D Ultrasound Images Using Hierarchical Grid Interpolation
Royer, Lucas
Babel, Marie
Krupa, Alexandre
[J]. MEDICAL IMAGING 2014: IMAGE PROCESSING, 2014, 9034

← 1 2 3 4 5 →