This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed design relies on the notion of a virtual camera and image moments as visual features to simplify the kinematics and dynamics. The convergence of the closed-loop is proven to be globally asymptotically stable. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera


    Beteiligte:
    Fink, Geoff (Autor:in) / Xie, Hui (Autor:in) / Lynch, Alan F. (Autor:in) / Jagersand, Martin (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    3550634 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Translational visual servoing control of quadrotor helicopters

    Kummer, Nikolai | BASE | 2013

    Freier Zugriff

    Adaptive visual servoing of UAVs using a virtual camera

    Hui Xie, / Fink, Geoff / Lynch, Alan F. et al. | IEEE | 2016



    Position-Based Visual Servoing for Target Tracking by a Quadrotor UAV

    Popova, Marinela G. / Liu, Hugh H. | AIAA | 2016


    Visual servoing of a quadrotor with suspended slung load for object detection and tracking

    Jabeur, Marwen / McFadyen, Aaron / Morton, Kye et al. | IEEE | 2017